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Article
Robust control-based linear bilateral teleoperation system without force sensor
Journal of the Brazilian Society of Mechanical Sciences and Engineering (2015)
Abstract

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. Link to Full-Text Articles : http://link.springer.com/article/10.1007%2Fs40430-014-0207-2

Keywords
  • Teleoperation systems,
  • Time delay,
  • Force estimation,
  • TIME-DELAY,
  • DISTURBANCE OBSERVER,
  • IMPEDANCE,
  • MANIPULATORS
Publication Date
March, 2015
Publisher Statement
ISI Document Delivery No.: CC5LD Times Cited: 0 Cited Reference Count: 24 Cited References: Ahn HS, 2010, INT C CONTR AUT SYST Chan LP, 2013, ROBOT AUTON SYST, V61, P1277, DOI 10.1016/j.robot.2013.09.003 Chen WH, 2000, IEEE T IND ELECTRON, V47, P932 Cho HC, 2001, IEEE INT CONF ROBOT, P1025 Cho HC, 2005, MECHATRONICS, V15, P611, DOI 10.1016/j.mechatronics.2004.05.006 COLGATE JE, 1994, IEEE INT CONF ROBOT, P3205 Daly JM, 2010, IEEE INT C INT ROBOT, P3911 Daly JM, 2009, P AMER CONTR CONF, P89, DOI 10.1109/ACC.2009.5160311 Danesh M, 2005, IEICE T FUND ELECTR, Ve88-A, P10 Hashtrudi-Zaad K, 2001, INT J ROBOT RES, V20, P419, DOI 10.1177/02783640122067471 Haykin S., 1970, ACTIVE NETWORK THEOR Hua C, 2011, IEEE INT S HAPT AUD, P62 Imaida T, 2004, IEEE T ROBOTIC AUTOM, V20, P499, DOI 10.1109/TRA.2004.825271 Jafari A, 2012, T I MEAS CONTROL, P1 Khalil H. K., 2002, NONLINEAR SYSTEMS LAWRENCE DA, 1993, IEEE T ROBOTIC AUTOM, V9, P624, DOI 10.1109/70.258054 Lee DJ, 2006, IEEE T ROBOT, V22, P269, DOI 10.1109/TRO.2005.862637 Lichiardopol S, 2010, P 49 IEEE C DEC CONT Mohammadi A, 2011, P 23 CANCAM CAN Mohammadi A, 2011, IET CONTROL THEORY A, V5, P2063, DOI 10.1049/iet-cta.2010.0517 Nuno E, 2008, IEEE T ROBOT, V24, P753, DOI 10.1109/TRO.2008.921565 Preusche C, 2002, CONTROL ENG PRACT, V10, P1245, DOI 10.1016/S0967-0661(02)00084-9 LU ZR, 1995, INT J ROBOT RES, V14, P225 Zareinejad M, 2009, INT J MED ROBOT COMP, V5, P66, DOI 10.1002/rcs.236 Amini, H. Dabbagh, V. Rezaei, S. M. Zareinejad, M. Mardi, N. A. Sarhan, Ahmed A. D. SARHAN, AHMED/B-5307-2010 SARHAN, AHMED/0000-0001-8474-8347 University of Malaya Research Grant (UMRG) Program [RP001C-13AET] The authors would like to acknowledge the University of Malaya for providing the necessary facilities and resources for this research. This research was funded by the University of Malaya Research Grant (UMRG) Program No. RP001C-13AET. 0 SPRINGER HEIDELBERG HEIDELBERG J BRAZ SOC MECH SCI
Citation Information
"Robust control-based linear bilateral teleoperation system without force sensor" Journal of the Brazilian Society of Mechanical Sciences and Engineering Vol. 37 Iss. 2 (2015)
Available at: http://works.bepress.com/facultyofengineering_universityofmalaya/237/