Reaction Force Estimation and Bilateral Control of Master Slave Manipulation Using a Robust Controller

被引：0
|
作者：
Dad, Karam [1 ]
Jie, Wang [1 ]
Abbasi, Saad Jamshed [1 ]
Lee, Min Cheol [1 ]
机构：
[1] Pusan Natl Univ, Sch Mech Engn, Busan, South Korea
来源：
2017 10TH INTERNATIONAL CONFERENCE ON HUMAN SYSTEM INTERACTIONS (HSI) | 2017年
基金：
新加坡国家研究基金会;
关键词：
SMCSPO; Reaction Force; Human Command; Master-Slave Manipulator;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, proposed a reaction force estimation and bilateral control of master slave manipulation in hydraulic servo system based on Sliding mode control with sliding perturbation observer (SMCSPO). The reaction force is estimated by sliding perturbation observer (SPO) without using any force sensor. The estimated reaction force without force sensor is transmitted to the master device using the impedance model controller. Sliding mode control (SMC) is used to a bilateral controller for the position and force tracking control of a slave. This study proves in experiment that the slaver of a hydraulic servo system can follow the trajectory of the master device ( Human Command) using the bilateral control scheme.
引用
收藏
页码：178 / 181
页数：4
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