1. Bilateral teleoperation by sliding mode control design approach
- Author
-
Hace, Aleš
- Subjects
avtomatska regulacija ,bilateral teleoperation ,remote control ,drsni režim ,udc:007.52 ,telerobotika ,teleoperacija ,teleoperation ,sliding mode control ,bilateralna teleoperacija ,daljinsko krmiljenje ,telerobotics - Abstract
Sliding mode control has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. The paper deals with bilateral control for a force-reflection master-slave telerobotic architecture. It involves a short overview of basic bilateral modes. Chattering-free SMC design procedure for force-reflecting master-slave teleoperator is presented. The proposed bilateral control scheme was experimentally validated for a 1DOF master-slave teleoperator.
- Published
- 2012