Development of a hybrid control for a pneumatic teleoperation system using on/off solenoid valves

被引：6
|
作者：
Le, M. Q. [1 ]
Pham, M. T. [1 ]
Tavakoli, M. [2 ]
Moreau, R. [1 ]
机构：
[1] Univ Lyon, Lab Ampere, UMR CNRS 5005, INSA Lyon, F-69621 Villeurbanne, France
[2] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB, Canada
来源：
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年
关键词：
Pneumatic actuators; on/off solenoid valve; hybrid control; teleoperation; bilateral control; transparency; TRANSPARENCY;
D O I：
10.1109/IROS.2010.5650406
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a new predictive hybrid control law for a pneumatic teleoperation system using solenoid valves. Based on a predictive model of the mass flow rate of the valves, this method is used within a four-channel (4CH) bilateral control architecture for haptic teleoperation. An analysis of the controller parameters is carried out in order to achieve acceptable performances. The results show that a good accuracy in position and force tracking of the teleoperation system is obtained.
引用
收藏
页码：5818 / 5823
页数：6
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