bilateral teleoperation by sliding mode control design approach
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ID: 139264
2008
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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.
| Reference Key |
hace2008internationalbilateral
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|---|---|
| Authors | ;Ales Hace |
| Journal | International journal of offender therapy and comparative criminology |
| Year | 2008 |
| DOI |
10.3991/ijoe.v4i4.700
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| URL | |
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