Robust control-based linear bilateral teleoperation system without force sensor
Among the prevalent methods in linear bilateral teleoperation systems with communication channel time delays is to employ position and velocity signals in the control scheme. Utilizing force signals in such controllers significantly improves performance and reduces tracking error. However, measuring...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Springer Verlag (Germany)
2015
|
| Subjects: | |
| Online Access: | http://eprints.um.edu.my/14032/1/Robust_control-based_linear_bilateral_teleoperation_system_without.pdf http://eprints.um.edu.my/14032/ http://link.springer.com/article/10.1007%2Fs40430-014-0207-2 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| id |
my.um.eprints.14032 |
|---|---|
| record_format |
eprints |
| spelling |
my.um.eprints.140322015-09-02T02:11:08Z http://eprints.um.edu.my/14032/ Robust control-based linear bilateral teleoperation system without force sensor Amini, H. Dabbagh, V. Rezaei, S.M. Zareinejad, M. Mardi, N.A. Sarhan, A.A.D. T Technology (General) TJ Mechanical engineering and machinery Among the prevalent methods in linear bilateral teleoperation systems with communication channel time delays is to employ position and velocity signals in the control scheme. Utilizing force signals in such controllers significantly improves performance and reduces tracking error. However, measuring force signals in such cases, is one of the major difficulties. In this paper, a control scheme with human and environment force signals for linear bilateral teleoperation is proposed. In order to eliminate the measurement of forces in the control scheme, a force estimation approach based on disturbance observers is applied. The proposed approach guarantees asymptotic estimation of constant forces, and estimation error would only be bounded for time-varying external forces. To cope with the variations in human and environment force, sliding mode control is implemented. The stability and transparency condition in the teleoperation system with the designed control scheme is derived from the absolute stability concept. The intended control scheme guarantees the stability of the teleoperation system in the presence of time-varying human and environment forces. Experimental results indicate that the proposed control scheme improves position tracking in free motion and in contact with the environment. The force estimation approach also appropriately estimates human and environment forces. Springer Verlag (Germany) 2015-03 Article PeerReviewed application/pdf en http://eprints.um.edu.my/14032/1/Robust_control-based_linear_bilateral_teleoperation_system_without.pdf Amini, H. and Dabbagh, V. and Rezaei, S.M. and Zareinejad, M. and Mardi, N.A. and Sarhan, A.A.D. (2015) Robust control-based linear bilateral teleoperation system without force sensor. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 37 (2). pp. 579-587. ISSN 1678-5878 http://link.springer.com/article/10.1007%2Fs40430-014-0207-2 doi: 10.1007/s40430-014-0207-2 |
| institution |
Universiti Malaya |
| building |
UM Library |
| collection |
Institutional Repository |
| continent |
Asia |
| country |
Malaysia |
| content_provider |
Universiti Malaya |
| content_source |
UM Research Repository |
| url_provider |
http://eprints.um.edu.my/ |
| language |
English |
| topic |
T Technology (General) TJ Mechanical engineering and machinery |
| spellingShingle |
T Technology (General) TJ Mechanical engineering and machinery Amini, H. Dabbagh, V. Rezaei, S.M. Zareinejad, M. Mardi, N.A. Sarhan, A.A.D. Robust control-based linear bilateral teleoperation system without force sensor |
| description |
Among the prevalent methods in linear bilateral teleoperation systems with communication channel time delays is to employ position and velocity signals in the control scheme. Utilizing force signals in such controllers significantly improves performance and reduces tracking error. However, measuring force signals in such cases, is one of the major difficulties. In this paper, a control scheme with human and environment force signals for linear bilateral teleoperation is proposed. In order to eliminate the measurement of forces in the control scheme, a force estimation approach based on disturbance observers is applied. The proposed approach guarantees asymptotic estimation of constant forces, and estimation error would only be bounded for time-varying external forces. To cope with the variations in human and environment force, sliding mode control is implemented. The stability and transparency condition in the teleoperation system with the designed control scheme is derived from the absolute stability concept. The intended control scheme guarantees the stability of the teleoperation system in the presence of time-varying human and environment forces. Experimental results indicate that the proposed control scheme improves position tracking in free motion and in contact with the environment. The force estimation approach also appropriately estimates human and environment forces. |
| format |
Article |
| author |
Amini, H. Dabbagh, V. Rezaei, S.M. Zareinejad, M. Mardi, N.A. Sarhan, A.A.D. |
| author_facet |
Amini, H. Dabbagh, V. Rezaei, S.M. Zareinejad, M. Mardi, N.A. Sarhan, A.A.D. |
| author_sort |
Amini, H. |
| title |
Robust control-based linear bilateral teleoperation system without force sensor |
| title_short |
Robust control-based linear bilateral teleoperation system without force sensor |
| title_full |
Robust control-based linear bilateral teleoperation system without force sensor |
| title_fullStr |
Robust control-based linear bilateral teleoperation system without force sensor |
| title_full_unstemmed |
Robust control-based linear bilateral teleoperation system without force sensor |
| title_sort |
robust control-based linear bilateral teleoperation system without force sensor |
| publisher |
Springer Verlag (Germany) |
| publishDate |
2015 |
| url |
http://eprints.um.edu.my/14032/1/Robust_control-based_linear_bilateral_teleoperation_system_without.pdf http://eprints.um.edu.my/14032/ http://link.springer.com/article/10.1007%2Fs40430-014-0207-2 |
| _version_ |
1643689717021016064 |
| score |
13.211869 |