ROBUST IMPEDANCE CONTROL OF A TELEOPERATION SYSTEM WITH FRICTION COMPENSATION UNDER TIME DELAY

被引：0
|
作者：
Esfahani, A. Monemian [1 ]
Rezaei, S. M. [1 ]
Zareinejad, M. [1 ]
机构：
[1] Amirkabir Univ Technol, Dept Mech Engn, Tehran, Iran
来源：
IMECE 2009: PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, VOL 10, PTS A AND B | 2010年
关键词：
SLIDING MODE CONTROL;
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：
Friction forces in the robot joints insert nonlinearity in the dynamic and make errors in tracking. In this paper a new impedance control for the master is proposed to achieve force tracking. In addition, an impedance control for slave combined with sliding mode, which is based on perturbation estimation, is anticipated to reach position tracking. Friction compensators typically include a friction observer that provides a cancellation term in order to be added to the control input. Estimating and compensating the friction and other uncertainties will change the nonlinear equation to a linear one. The stability of entire system under time delay is guaranteed by Llewellyn's absolute stability criterion. Performance of the proposed controllers is investigated through experiments.
引用
收藏
页码：199 / 207
页数：9
相关论文
共 50 条
  • [1] Stable bilateral teleoperation under a time delay using a robust impedance, control
    Cho, HC
    Park, JH
    [J]. MECHATRONICS, 2005, 15 (05) : 611 - 625
  • [2] NONLINEAR DISTURBANCE OBSERVER BASED IMPEDANCE CONTROL FOR A TELEOPERATION SYSTEM UNDER TIME DELAY
    Esfahani, A. Monemian
    Rezaei, S. M.
    Zareinejad, M.
    [J]. IMECE 2009: PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, VOL 10, PTS A AND B, 2010, : 515 - 521
  • [3] A new impedance and robust adaptive inverse control approach for a teleoperation system with varying time delay
    Mokhtar Sha Sadeghi
    Hamid Reza Momeni
    [J]. Science in China Series E: Technological Sciences, 2009, 52 : 2629 - 2643
  • [4] A new impedance and robust adaptive inverse control approach for a teleoperation system with varying time delay
    Sadeghi, Mokhtar Sha
    Momeni, Hamid Reza
    [J]. SCIENCE IN CHINA SERIES E-TECHNOLOGICAL SCIENCES, 2009, 52 (09): : 2629 - 2643
  • [5] A new impedance and robust adaptive inverse control approach for a teleoperation system with varying time delay
    Mokhtar SHA SADEGHI
    Hamid Reza MOMENI
    [J]. Science China Technological Sciences, 2009, 52 (09) : 2629 - 2643
  • [6] Time Delay Compensation for Force Controller in Bilateral Teleoperation System under Time Delay
    Tashiro, Tetsuya
    Shimono, Tomoyuki
    Mizoguchi, Takahiro
    Ohnishi, Kouhei
    [J]. 2018 IEEE 15TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 2018, : 649 - 654
  • [7] Impedance control with variable damping for bilateral teleoperation under time delay
    Cho, HC
    Park, JH
    [J]. JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 2005, 48 (04) : 695 - 703
  • [8] Adaptive/robust control for enhanced teleoperation under communication time delay
    Shahdi, Ali
    Sirouspour, Shahin
    [J]. 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 2007, : 2673 - 2678
  • [9] Time delay compensation in a bilateral teleoperation system
    Gomez-Rosas, Carlos
    Portillo-Velez, Rogelio J.
    [J]. PROCEEDINGS OF THE 2021 XXIII ROBOTICS MEXICAN CONGRESS (COMROB), 2021, : 13 - 18
  • [10] Fuzzy logic-based variable impedance control for a bilateral teleoperation system under time delay
    Sarkhooni, Maryam Raeisi
    Yazdankhoo, Behnam
    Yazdi, Mohammad Reza Ha'iri
    Najafi, Farshid
    [J]. JOURNAL OF COMPUTATIONAL APPLIED MECHANICS, 2024, 55 (03): : 500 - 518
12345