Teleoperated Robots

Teleoperated robots are usually helpful in situations where there is a necessity to manipulate objects from a distance, e.g., underwater applications, surgical robots, atomic/nuclear centres etc. A master robot is handled directly by the user, and its motions are mimicked by the slave robot at the remote location, which in turn interacts with the objects of environment. The slave robots role is to track the master robot’s position, and the master robot is provided with a feedback of the forces from the environment. As the feedback is carried through long distance communication channels, instability arises in the system. The objective of this research work is to develop control techniques to maintain the system stability and yet achieve position and force tracking.
The non-linear tool of passivity is being used to develop position and force controllers for the master and slave robots. In addition, impedance controllers are being developed so as to make the interaction with environment safe, and also to reduce the effort required by the user. Model uncertainties of the system are being handled by implementing an adaptive controller. A five-bar master-slave setup is built to conduct the experiments.

Journal publications

• Sai Srikar Annamraju, Vijay Kumar Pediredla and Asokan Thondiyath, “Two-Channel Control Architecture for Bilateral Teleoperation Using Isotropy-based Design of Robot Arms,” International Journal of Control Automation and Electrical Systems, Note: Under Review.

Conference publications

• Vijay Kumar Pediredla, Karthik Chandrashekaran, Sai Srikar Annamraju and Asokan Thondiyath, “A Novel Three Degrees of Freedom Haptic Device for Rendering Texture, Stiffness, Shape, and Shear,” in 6th IFToMM International Symposium on Robotics and Mechatronics (ISRM '19), Taipei, Taiwan, October 28-30, 2019, Note: Accepted for presentation.
• Vijay Kumar Pediredla, Sai Srikar Annamraju and Asokan Thondiyath, “Performance Comparison of Interaction Control Techniques for Reliable Haptic feedback in Tele-operated systems: Case Study of a 1-DOF Haptic Device,” in Proceedings of the Advances in Robotics (AIR '19), Chennai, India, July 02-06, 2019, doi: 10.1145/3352593.33525624.
• Sai Srikar Annamraju, Senthur Raj, Vijay Kumar Pediredla and Asokan Thondiyath, “Dynamic Modulation of Human Interactive Robots using Impedance Control,” in Proceedings of the Advances in Robotics (AIR '19), Chennai, India, July 02-06, 2019, doi: 10.1145/3352593.3352597.
• Sai Srikar Annamraju and Asokan Thondiyath, “Stability and Transparency in Bilateral Teleoperation of a Surgical Robot: A Case Study,” in Proceedings of the Advances in Robotics (AIR '17), New Delhi, India, June 28-July 02, 2017, doi: 10.1145/3132446.3134867.

Faculty in-charge: Prof. Asokan Thondiyath

Students: Mr. Sai Srikar A., Mr. Vijay Kumar P.