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。 具体来说，这个建议是开发分散控制策略一致的建模网络遥操作系统端口哈密顿系统的图形。的指导思想是组装一个合作系统的子系统，其动力学已被塑造为被动端口哈密顿通过本地反馈，并阻止能源的生产和耗散的互连。一个关键的创新将是编码图节点中随时间变化的通信延迟，并塑造他们的精力充沛的行为，以匹配某些理想的被动动态。一个重要的预期结果是可组合性属性：整个合作系统将继承被动性，从而鲁棒性随时间变化的延迟，从它的组件。另一个创新将是以更好地保持合作操纵期间产生的相互作用力的物理准确性的方式来塑造时变通信的动态。通过实现跨距离与忠实的力反馈的合作，可组合性将有助于将遥操作和触觉系统部署到远程和虚拟操作中，这些操作需要多个同时操作者的组合灵活性。

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.