Data-driven impedance matching in multilateral teleoperation systems
This paper addresses a tuning approach to improve transparency between master and slave manipulators in a multilateral teleoperation system. The slave manipulators comprised of multi-agents of simple mass are converted into a bilateral system through the passive decomposition technique. There are tw...
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| Format: | Article |
| Language: | en |
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Institute of Advanced Engineering and Science
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/21077/1/Data-driven%20impedance%20matching%20in%20multilateral%20teleoperation%20systems.pdf http://umpir.ump.edu.my/id/eprint/21077/ http://www.iaescore.com/journals/index.php/IJEECS/article/view/11847 |
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| author | Mohd Syakirin, Ramli Hamzah, Ahmad |
| author_facet | Mohd Syakirin, Ramli Hamzah, Ahmad |
| author_sort | Mohd Syakirin, Ramli |
| building | UMPSA Library |
| collection | Institutional Repository |
| content_provider | Universiti Malaysia Pahang Al-Sultan Abdullah |
| content_source | UMPSA Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | This paper addresses a tuning approach to improve transparency between master and slave manipulators in a multilateral teleoperation system. The slave manipulators comprised of multi-agents of simple mass are converted into a bilateral system through the passive decomposition technique. There are two main operations being considered, namely; grasping and handling. The object grasping is achieved through consensus control. For handling, an equalizer constructed by a Laguerre function connected in-feedback-loop to the master manipulator is chosen and tuned to achieve impedance matching between both sides of teleoperation. Fictitious Reference Iterative Tuning (FRIT) is adopted to properly tune the selected equalizer. The result shows that by introducing an optimally tuned equalizer, the overall impedance matching and transparency between the single master and multi-slave manipulators are improved. Finally, the effectiveness of the proposed tuning algorithm is presented through a numerical example. |
| format | Article |
| id | my.ump.umpir.21077 |
| institution | Universiti Malaysia Pahang |
| language | en |
| publishDate | 2018 |
| publisher | Institute of Advanced Engineering and Science |
| record_format | eprints |
| spelling | my.ump.umpir.210772018-08-29T02:17:53Z http://umpir.ump.edu.my/id/eprint/21077/ Data-driven impedance matching in multilateral teleoperation systems Mohd Syakirin, Ramli Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering This paper addresses a tuning approach to improve transparency between master and slave manipulators in a multilateral teleoperation system. The slave manipulators comprised of multi-agents of simple mass are converted into a bilateral system through the passive decomposition technique. There are two main operations being considered, namely; grasping and handling. The object grasping is achieved through consensus control. For handling, an equalizer constructed by a Laguerre function connected in-feedback-loop to the master manipulator is chosen and tuned to achieve impedance matching between both sides of teleoperation. Fictitious Reference Iterative Tuning (FRIT) is adopted to properly tune the selected equalizer. The result shows that by introducing an optimally tuned equalizer, the overall impedance matching and transparency between the single master and multi-slave manipulators are improved. Finally, the effectiveness of the proposed tuning algorithm is presented through a numerical example. Institute of Advanced Engineering and Science 2018-05 Article PeerReviewed pdf en cc_by_nc_4 http://umpir.ump.edu.my/id/eprint/21077/1/Data-driven%20impedance%20matching%20in%20multilateral%20teleoperation%20systems.pdf Mohd Syakirin, Ramli and Hamzah, Ahmad (2018) Data-driven impedance matching in multilateral teleoperation systems. Indonesian Journal of Electrical Engineering and Computer Science, 10 (2). pp. 713-124. ISSN 2502-4752. (Published) http://www.iaescore.com/journals/index.php/IJEECS/article/view/11847 10.11591/ijeecs.v10.i2 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd Syakirin, Ramli Hamzah, Ahmad Data-driven impedance matching in multilateral teleoperation systems |
| title | Data-driven impedance matching in multilateral teleoperation systems |
| title_full | Data-driven impedance matching in multilateral teleoperation systems |
| title_fullStr | Data-driven impedance matching in multilateral teleoperation systems |
| title_full_unstemmed | Data-driven impedance matching in multilateral teleoperation systems |
| title_short | Data-driven impedance matching in multilateral teleoperation systems |
| title_sort | data-driven impedance matching in multilateral teleoperation systems |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/21077/1/Data-driven%20impedance%20matching%20in%20multilateral%20teleoperation%20systems.pdf http://umpir.ump.edu.my/id/eprint/21077/ http://www.iaescore.com/journals/index.php/IJEECS/article/view/11847 |
| url_provider | http://umpir.ump.edu.my/ |