Nonlinear Bilateral Control of 4-Channel Teleoperation Systems Using Adaptive Force Estimator

被引：0

作者：

Dehghan, Seyed Ali Mohamad ^{[1
]}

Koofigar, Hamid Reza ^{[1
]}

Ekramian, Mohsen ^{[1
]}

机构：

[1] Univ Isfahan, Dept Elect Engn, Esfahan 8174673441, Iran

来源：

2016 20TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2016年

关键词：

bilateral control; adaptive control; force estimator; 4-channel teleoperation; DISTURBANCE OBSERVER; MOTION CONTROL; SENSORLESS CONTROL; MANIPULATORS; DESIGN; TRACKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a nonlinear 4-channel bilateral teleoperation system, without using force sensor. In the design procedure, the adaptive control laws estimate and compensate the exerted forces on both master and slave robots. The estimated forces are then used in a control loop for modifying the trajectory of both robots to meet the full transparency condition. The stability and the transparency of the teleoperation system are analyzed, based on the Lyapunov theorem. Some simulations are also presented for a two planar two-degree of freedom manipulator to show the efficiency of the proposed control algorithm.

引用

页码：102 / 106

页数：5

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