Aleš Hace (Author)

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.

Keywords

telerobotika;avtomatska regulacija;drsni režim;daljinsko krmiljenje;telerobotics;teleoperation;bilateral teleoperation;sliding mode control;remote control;

Data

Language: English
Year of publishing:
Typology: 1.01 - Original Scientific Article
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
UDC: 007.52
COBISS: 12863510 Link will open in a new window
ISSN: 1861-2121
Views: 1434
Downloads: 353
Average score: 0 (0 votes)
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Other data

Secondary language: Slovenian
Secondary keywords: telerobotika;teleoperacija;bilateralna teleoperacija;avtomatska regulacija;drsni režim;daljinsko krmiljenje;
URN: URN:SI:UM:
Type (COBISS): Scientific work
Pages: str. 6-16
Volume: ǂVol. ǂ4
Issue: ǂno. ǂ4
Chronology: 2008
DOI: 10.3991/ijoe.v4i4.700
ID: 8717863