Paper Info
Title
Passive Bilateral Control of a Teleoperation System Considering Hysteresis Nonlinearity of Slave Robot
Abstract
The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hysteresis loop to cancel out this undesirable term. A 2-DOF master-slave system is decomposed into two 1-DOF systems: a shape system representing the master-slave position coordination, and a locked system representing the dynamics of the coordinated system. For making the closed-loop teleoperation system passive against dynamic parameter uncertainty and force measurement inaccuracy, four virtual flywheels are designed. In this way, the energy generated by troublesome terms inside controllers (i.e. the terms which may endanger passivity of the controller) would be taken from the bounded kinetic energy deposited on these flywheels. Simulations are performed to show effectiveness of the proposed controllers.
Year
DOI
Venue
2008
10.1007/978-3-540-69057-3_9
EuroHaptics
Keywords
Field
DocType
teleoperation system,shape system,robot control,2-dof master-slave system,closed-loop teleoperation system passive,macro-micro teleoperation system,slave robot,passive bilateral control,1-dof system,teleoperation control loop,1-dof piezo actuator,hysteresis nonlinearity,locked system,hysteresis,scaling,kinetic energy,coordinate system,decomposition,hysteresis loop
Passivity,Teleoperation,Robot control,Control theory,Nonlinear system,Simulation,Computer science,Control theory,Control system,Robot,Actuator
Conference
Volume
ISSN
Citations 
5024
0302-9743
0
PageRank 
References 
Authors
0.34
10
7
Name
Order
Citations
PageRank
R. Seifabadi14610.06
Seyed Mehdi Rezaei2165.89
Saeed Shiry3205.07
Mozafar Saadat45310.46
M. Zareinejad5145.01
Kamran Razi6194.88
Hossein Habibollahi710.70