Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation

TL;DR

This paper extends Time Domain Passivity Approach (TDPA) for drift compensation in multi-DoF teleoperation, ensuring position synchronization and stability with experimental validation under high latency conditions.

Contribution

It introduces a multi-DoF extension of TDPA-based drift compensation methods and analyzes its convergence and effectiveness through simulations and hardware experiments.

Findings

Effective drift compensation in multi-DoF teleoperation

Maintains force signal safety within normal range

Works under round-trip delays up to 700 ms

Abstract

When, in addition to stability, position synchronization is also desired in bilateral teleoperation, Time Domain Passivity Approach (TDPA) alone might not be able to fulfill the desired objective. This is due to an undesired effect caused by admittance type passivity controllers, namely position drift. Previous works focused on developing TDPA-based drift compensation methods to solve this issue. It was shown that, in addition to reducing drift, one of the proposed methods was able to keep the force signals within their normal range, guaranteeing the safety of the task. However, no multi-DoF treatment of those approaches has been addressed. In that scope, this paper focuses on providing an extension of previous TDPA-based approaches to multi-DoF Cartesian-space teleoperation. An analysis of the convergence properties of the presented method is also provided. In addition, its applicability to multi-DoF devices is shown through hardware experiments and numerical simulation with round-trip time delays up to 700 ms.