Cooperative Control by Interconnection and Damping Assignment for Teleoperation and Haptics Systems

双边遥操作和触觉机器人系统使人类操作员能够操纵和感觉遥远的和计算机模拟的对象，分别。它们通过命令真实的或模拟的从机器人跟随主机器人的用户命令的运动，将人类操作员的灵巧性转移到远程或虚拟环境。它们通过向操作者施加从机与环境之间的相互作用力来传达操纵的感觉。遥控操作和触觉系统的现有应用包括空间有效载荷操纵、微创手术和基于虚拟现实的培训，加拿大在航天飞机遥控操作系统（也称为Canadarm）和NeuroArm外科遥控机器人系统的研发方面处于领先地位。未来的应用范围从外科手术和物理远程康复到海洋石油和天然气服务，到空间和水下组装和建造，到海底和陆地爆炸装置缓解以及核退役。它们需要多个从站一起工作，并通过具有时变延迟的链路与它们的主站通信。时变时延对现有的协作遥操作和触觉系统构成了重大威胁。因此，本申请侧重于新的控制方法，将使合作与现实的力反馈之间的遥操作和触觉系统随时间变化的延迟。

Bilateral teleoperation and haptic robotic systems enable human operators to manipulate and feel distant and computer simulated objects, respectively. They transfer the dexterity of the human operator to the remote or virtual environment by commanding a real or simulated slave robot to follow the user-commanded motion of a master robot. They convey the feel of the manipulation by applying the interaction forces between the slave and the environment to the operator. Existing applications of teleoperation and haptic systems include space payload manipulation, minimally invasive surgery and virtual reality-based training, with Canada at the forefront of research and development with the Shuttle Remote Manipulator System, also known as Canadarm, and the NeuroArm surgical telerobotic system. Upcoming applications range from telesurgery and physical telerehabilitation to marine oil and gas services, to space and underwater assembly and construction, to subsea and terrestrial explosive device mitigation and to nuclear decommissioning. They require multiple slaves to work together and to communicate to their masters over links with time-varying delays. Time-varying delays pose significant threats to existing cooperative teleoperation and haptic systems. Thus, this application focuses on new control methodologies that will enable cooperation with realistic force feedback among teleoperation and haptic systems with time-varying delays.