Bilateral teleoperation systems using genetic algorithms

Authors:
Byeong-Yeon Kim;Hyo-Sung Ahn
Affiliations:
Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, Korea;Department of Mechatronics, Gwangju Institute of Science and Technology, Gwangju, Korea
Venue:
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Year:
2009

Citing 4
Cited 0

Genetic algorithms + data structures = evolution programs (3rd ed.)

Genetic algorithms + data structures = evolution programs (3rd ed.)
Genetic Algorithms and Manufacturing Systems Design

Genetic Algorithms and Manufacturing Systems Design
Brief paper: Synchronization of bilateral teleoperators with time delay

Automatica (Journal of IFAC)
A Globally Stable PD Controller for Bilateral Teleoperators

IEEE Transactions on Robotics

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Abstract

This paper presents a synchronization scheme of bilateral teleoperation systems with time delay using genetic algorithms. In general, bilateral teleoperation systems have two main goals: stability and transparency. The system can be destabilized by time delay in the communication channel between the master and the slave. Also, transparency can be degraded by time delay. However, it Is not easy to determine control gains to achieve these goals. In this work, we use genetic algorithms to choose optimal control gains for synchronization control law. Consequently, position and force tracking problem in free and contact motion is solved in a synchronized manner. Simulation results are presented to verify the effectiveness of proposed methods.