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分别操纵和感觉远处和计算机模拟的对象。它们通过命令真实或模拟的从属机器人跟随用户命令的主机器人的运动，将人类操作员的灵活性转移到远程或虚拟环境中。它们通过将奴隶和环境之间的相互作用力施加到操作者身上来传达操纵的感觉。遥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，加拿大在航天飞机远程操纵器系统(又称Canadarm)和NeuroArm外科远程机器人系统的研究和开发方面处于领先地位。即将到来的应用范围从远程外科手术和物理远程修复到海洋石油和天然气服务，到空间和水下组装和建造，到海底和地面爆炸装置缓解以及核退役。它们需要多个从属设备协同工作，并通过具有时变延迟的链路与它们的主控设备通信。时变时延对现有的协作式遥操作和触觉系统构成了严重威胁。因此，这项应用关注于新的控制方法，它将使得遥操作和具有时变延迟的触觉系统之间能够与真实力反馈合作。*具体地说，该建议是开发与将联网的遥操作系统建模为图上的端口-哈密顿系统一致的分散控制策略。其指导思想是通过局部反馈将其动力学塑造为被动端口哈密顿的子系统组装成一个合作系统，并阻止互联处的能量生产和耗散。一项关键的创新将是对图形节点中随时间变化的通信延迟进行编码，并塑造它们的能量行为，以匹配某些所需的被动动力学。一个重要的预期结果是可组合性：整个合作系统将继承其组件的被动性，从而对时变延迟具有健壮性。另一项创新将是塑造时变通信的动态，以更好地保持在合作操纵期间产生的相互作用力的物理准确性。通过实现与远距离忠实的力反馈的协作，可组合性将促进将远程操作和触觉系统部署到远程和虚拟操作中，这需要多个同时操作人员的组合灵活性。

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.*** ***Specifically, this proposal is to develop decentralized control strategies congruent with the modelling of networked teleoperator systems as port-Hamiltonian systems on graphs. The guiding philosophy is to assemble a cooperative system from subsystems whose dynamics have been shaped as passive port-Hamiltonians through local feedback and to thwart energy production and dissipation at interconnections. A key innovation will be to encode the time-varying communication delays in graph nodes and to shape their energetic behaviour to match that of certain desirable passive dynamics. An important anticipated outcome is a composability property: the overall cooperative system will inherit passivity, and thus robustness to time-varying delays, from its components. Another innovation will be to shape the dynamics of the time-varying communications in ways that better maintain the physical accuracy of the interaction forces arising during a cooperative manipulation. By enabling cooperation with faithful force feedback across distance, composability will facilitate the deployment of teleoperation and haptic systems to remote and virtual manipulations that demands the combined dexterity of multiple simultaneous operators.