Stable Linear Bilateral Teleoperation System Employing an Impedance Control Via Estimated External Forces
We propose a new impedance control algorithm for delayed linear bilateral teleoperation systems. In the presented control strategy, with regard to a preferred impedance model for the master and slave robots, a special dynamic feature at the human and the master robot along with the slave robot and e...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
OICC Press
2024-02-01
|
| Series: | Majlesi Journal of Electrical Engineering |
| Subjects: | |
| Online Access: | https://oiccpress.com/mjee/article/view/4866 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850283597083181056 |
|---|---|
| author | Seyed Tabatabaei Amir Hossein Zaeri Mohammad Vahedi |
| author_facet | Seyed Tabatabaei Amir Hossein Zaeri Mohammad Vahedi |
| author_sort | Seyed Tabatabaei |
| collection | DOAJ |
| description | We propose a new impedance control algorithm for delayed linear bilateral teleoperation systems. In the presented control strategy, with regard to a preferred impedance model for the master and slave robots, a special dynamic feature at the human and the master robot along with the slave robot and environment interface is proposed. In addition, external forces signals including operator and remote environmental forces are used in the controller to attain desired impedance model. A force estimation scheme is presented to remove measurement of external forces. Then, the desired impedance model is located into an appropriate sliding-mode control scheme to compensate the parameters uncertainties emerged by external force estimation errors. Then, the absolute stability criterion is used to investigate the stability of the closed-loop teleoperation system along with transparency. Consequently, the control strategy is implemented on 1-DOF robotic system as the master and slave robots. Simulation results verify the effectiveness of the presented impedance controller by using estimated external forces. |
| format | Article |
| id | doaj-art-989ade8e13d542108c3a75151cf36cf7 |
| institution | OA Journals |
| issn | 2345-377X 2345-3796 |
| language | English |
| publishDate | 2024-02-01 |
| publisher | OICC Press |
| record_format | Article |
| series | Majlesi Journal of Electrical Engineering |
| spelling | doaj-art-989ade8e13d542108c3a75151cf36cf72025-08-20T01:47:45ZengOICC PressMajlesi Journal of Electrical Engineering2345-377X2345-37962024-02-01142Stable Linear Bilateral Teleoperation System Employing an Impedance Control Via Estimated External ForcesSeyed Tabatabaei0Amir Hossein Zaeri1Mohammad Vahedi2Department of Control Engineering, Saveh Branch, Islamic Azad University, Saveh, Iran.Department of Electrical Engineering, Shahinshahr Branch, Islamic Azad University, Isfahan, IranDepartment of Mechanical Engineering, Saveh Branch, Islamic Azad University, Saveh, Iran.We propose a new impedance control algorithm for delayed linear bilateral teleoperation systems. In the presented control strategy, with regard to a preferred impedance model for the master and slave robots, a special dynamic feature at the human and the master robot along with the slave robot and environment interface is proposed. In addition, external forces signals including operator and remote environmental forces are used in the controller to attain desired impedance model. A force estimation scheme is presented to remove measurement of external forces. Then, the desired impedance model is located into an appropriate sliding-mode control scheme to compensate the parameters uncertainties emerged by external force estimation errors. Then, the absolute stability criterion is used to investigate the stability of the closed-loop teleoperation system along with transparency. Consequently, the control strategy is implemented on 1-DOF robotic system as the master and slave robots. Simulation results verify the effectiveness of the presented impedance controller by using estimated external forces.https://oiccpress.com/mjee/article/view/4866Absolute Stability.Force EstimationImpedance Control SchemeTeleoperationTime delay |
| spellingShingle | Seyed Tabatabaei Amir Hossein Zaeri Mohammad Vahedi Stable Linear Bilateral Teleoperation System Employing an Impedance Control Via Estimated External Forces Majlesi Journal of Electrical Engineering Absolute Stability. Force Estimation Impedance Control Scheme Teleoperation Time delay |
| title | Stable Linear Bilateral Teleoperation System Employing an Impedance Control Via Estimated External Forces |
| title_full | Stable Linear Bilateral Teleoperation System Employing an Impedance Control Via Estimated External Forces |
| title_fullStr | Stable Linear Bilateral Teleoperation System Employing an Impedance Control Via Estimated External Forces |
| title_full_unstemmed | Stable Linear Bilateral Teleoperation System Employing an Impedance Control Via Estimated External Forces |
| title_short | Stable Linear Bilateral Teleoperation System Employing an Impedance Control Via Estimated External Forces |
| title_sort | stable linear bilateral teleoperation system employing an impedance control via estimated external forces |
| topic | Absolute Stability. Force Estimation Impedance Control Scheme Teleoperation Time delay |
| url | https://oiccpress.com/mjee/article/view/4866 |
| work_keys_str_mv | AT seyedtabatabaei stablelinearbilateralteleoperationsystememployinganimpedancecontrolviaestimatedexternalforces AT amirhosseinzaeri stablelinearbilateralteleoperationsystememployinganimpedancecontrolviaestimatedexternalforces AT mohammadvahedi stablelinearbilateralteleoperationsystememployinganimpedancecontrolviaestimatedexternalforces |