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Title:
Bilateral teleoperation by sliding mode control design approach
Authors:
ID
Hace, Aleš
(
Author
)
Files:
International_Journal_of_Online_Engineering_(iJOE)_2008_Hace_Bilateral_Teleoperation_by_Sliding_Mode_Control_Design_Approach.pdf
(955,63 KB)
MD5: E8C8CB68E71275E8361A96EEE5EAE533
PID:
20.500.12556/dkum/c9a09189-e652-4210-a6f1-671fc4526489
http://www.online-journals.org/index.php/i-joe/article/view/700
Language:
English
Work type:
Scientific work
Typology:
1.01 - Original Scientific Article
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
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:
telerobotics
,
teleoperation
,
bilateral teleoperation
,
sliding mode control
,
remote control
Publication status:
Published
Publication version:
Version of Record
Year of publishing:
2008
Number of pages:
str. 6-16
Numbering:
Letn. 4, št. 4
PID:
20.500.12556/DKUM-26325
ISSN:
1861-2121
UDC:
007.52
ISSN on article:
1861-2121
COBISS.SI-ID:
12863510
DOI:
10.3991/ijoe.v4i4.700
NUK URN:
URN:SI:UM:DK:4Y6FR4AZ
Publication date in DKUM:
31.05.2012
Views:
2245
Downloads:
455
Metadata:
Categories:
Misc.
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Record is a part of a journal
Title:
International Journal of Online Engineering
Shortened title:
Int. J. Online Eng.
Publisher:
Kassel University Press
ISSN:
1861-2121
COBISS.SI-ID:
9749782
Licences
License:
CC BY 4.0, Creative Commons Attribution 4.0 International
Link:
http://creativecommons.org/licenses/by/4.0/
Description:
This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Licensing start date:
31.05.2012
Secondary language
Language:
Slovenian
Keywords:
telerobotika
,
teleoperacija
,
bilateralna teleoperacija
,
avtomatska regulacija
,
drsni režim
,
daljinsko krmiljenje
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