Experimental results on the control of a robot bilateral teleoperation system with time varying delays

[EN] Bilateral systems of teleoperation are useful in a wide range of tasks that can be dangerous or inaccessible for a human operator. However, when time varying delays appear in the communication channel, perfect transparency can no longer been sured. Instead, other control objectives may be pursued, such as the kinematic correspondence between the local and the remote robots. Furthermore, since most of the commercially available robots are not equipped with velocity sensors, to guarantee a certain level of transparency or kinematic correspondence the controller can not rely on velocity measurements. This article is focused on presenting the experimental results of a robust scheme to time delays for non-linear manipulators connected through a communication channel. The main advantages of the control scheme are: i) it is not necessary to know the dynamic parameters of the manipulators; ii) it is not necessary to impose restrictions in the behavior of the human operator and the remote surface; iii) an estimation of velocities is obtained through a second order linear filter; iv) a term that guarantee force tracking is added to the scheme as well. In order to show good performance, we report a set of experiments that have been carried out between different cities in Mexico using the Internet as a communication channel.[ES] Los sistemas bilaterales de teleoperación son útiles en una amplia gama de tareas que pueden resultar peligrosas o inaccesibles para un humano. Sin embargo, cuando aparecen retardos variantes en el tiempo en el canal de comunicación, ya no se puede garantizar una transparencia perfecta. En cambio, se pueden perseguir otros objetivos de control, como la correspondencia cinemática entre los robots local y remoto. Además, dado que la mayoría de los robots disponibles comercialmente no están equipados con sensores de velocidad, para garantizar un cierto nivel de transparencia o correspondencia cinemática, el controlador no puede depender de las mediciones de velocidad. Este artículo está enfocado en presentar los resultados experimentales de un esquema robusto ante los retardos en el tiempo para manipuladores no lineales conectados a través de un canal de comunicación. Las ventajas principales del esquema propuesto son: i) no es necesario conocer los parámetros dinámicos de los manipuladores, ii) no es necesario imponer restricciones acerca del comportamiento del operador humano y de la superficie remota, iii) se obtiene una estimación de velocidades através de un filtro lineal de segundo orden, iv) un término que garantiza el seguimiento de fuerza fue agregado al esquema. Con el objetivo de mostrar el buen desempeño del esquema propuesto, se reportan un conjunto de experimentos que se han llevado a cabo entre diferentes ciudades de México utilizando Internet como canal de comunicación.Este trabajo ha sido apoyado por la DGAPA–UNAM bajo la donación IN117820. Finalmente el último autor agradece a CONACyT por la donación CB-282807.López, MG.; Artega, MA.; Gutiérrez, AI.; Nuño, E. (2021). Resultados experimentales del control de un sistema de teleoperación bilateral de robots con retardos variantes en el tiempo. Revista Iberoamericana de Automática e Informática industrial. 19(1):96-107. https://doi.org/10.4995/riai.2021.1483496107191Anderson, R. J., Spong, M. W., May 1989. Bilateral control of teleoperators with time delay. IEEE Transactions on Automatic Control 34 (5), 494-501. https://doi.org/10.1109/9.24201Arteaga-Pérez, M. A., López, M., Nuño, E., Hernández-Ortiz, O., 2019. 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