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The International Journal of Robotics Research
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Position Tracking for Non-linear Teleoperators with Variable Time Delay

Emmanuel Nuño

Institute of Industrial and Control Engineering, Technical University of Catalonia, Av. Diagonal 647, 08028 Barcelona, Spain, nuno{at}upc.edu

Luis Basañez

Institute of Industrial and Control Engineering, Technical University of Catalonia, Av. Diagonal 647, 08028 Barcelona, Spain, basanez{at}upc.edu

Romeo Ortega

Laboratoire des Signaux et Systèmes, CNRS-SUPÉLEC, Plateau de Moulon, 91190 Gif-sur-Yvette, France, ortega{at}lss.supelec.fr

Mark W. Spong

Erik Jonsson School of Engineering and Computer Science, University of Texas at Dallas, 800 West Campbell Road, Richardson, TX 75080-3021, USA, mspong{at}utdallas.edu

In this paper the problem of position tracking in the presence of variable time delay is studied. It is proved that simple P-like and PD-like controllers can stabilize the teleoperator under variable time delays and, moreover, they provide position tracking. Then, a controller based on the scattering transformation that also provides position tracking is proposed. In this paper we present the conditions under which the velocities and position error of the non-linear teleoperator, for the three controllers, are bounded, and if the human does not move the local manipulator and the remote manipulator does not interact with the environment, then it is proved that velocities and position error converge to zero. Simulations and real experiments, using the Internet from Urbana-Champaign (USA) to Barcelona (Spain), validate the proposed schemes.

Key Words: bilateral teleoperation • time-delays • nonlinear control • internet

The International Journal of Robotics Research, Vol. 28, No. 7, 895-910 (2009)
DOI: 10.1177/0278364908099461
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