Bilateral teleoperation by sliding mode control design approach

Povzetek

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.

Ključne besede

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

Podatki

Jezik:	Angleški jezik
Leto izida:	2008
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UM FERI - Fakulteta za elektrotehniko, računalništvo in informatiko
UDK:	007.52
COBISS:	12863510
ISSN:	1861-2121
Št. ogledov:	1434
Št. prenosov:	353
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Slovenski jezik
Sekundarne ključne besede:	telerobotika;teleoperacija;bilateralna teleoperacija;avtomatska regulacija;drsni režim;daljinsko krmiljenje;
URN:	URN:SI:UM:
Vrsta dela (COBISS):	Znanstveno delo
Strani:	str. 6-16
Letnik:	ǂVol. ǂ4
Zvezek:	ǂno. ǂ4
Čas izdaje:	2008
DOI:	10.3991/ijoe.v4i4.700
ID:	8717863