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
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