SavedAdd your journal

Journals / Turkish Journal of Electrical Engineering and Computer Science / 2010 / Cilt: 18 - Sayı: 5

A model based nonlinear adaptive controller for the passive bilateral telerobotic system

Ufuk ÖZBAY
Erkan ZERGEROĞLU
İlyas KANDEMİR
Pages
781–798
Publication Date
2010-05-01
DOI
—
🏛️Bibliographic metadata and full text access for this article are provided via DergiPark.
DergiPark Record ↗
✨

AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems.
📊
Key Findings & Data:The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system.
💡
Conclusion & Impact:Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.
🔬Design:Research Article
📍Scope:Comprehensive Sample
⚙️Variables:Model based control · nonlinear systems · passive systems

Abstract

IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.

Özet

IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.

🔖

Cite This Article

ÖZBAY, U., ZERGEROĞLU, E., KANDEMİR, İ. (2010). A model based nonlinear adaptive controller for the passive bilateral telerobotic system. Turkish Journal of Electrical Engineering and Computer Science, Cilt: 18 - Sayı: 5, 781–798. https://ajindex.com/articles/189002

📄 Full Text PDF Viewer

📄

PDF görüntüleyici hazırlanıyor...

References (9)

  1. E. Zergero˘glu, U. ¨Ozbay, E. Kaleli, “Robotik Uzakbulunum Sistemleri i¸cin Pasif Denetimli Uyarlamali Bir Denet- leyici Tasarımı”, Otomatik Kontrol T¨urk Milli Komitesi Otomatik Kontrol Ulusal Toplantısı, TOK 08, ˙Istanbul Teknik ¨Universitesi, Maslak, ˙Istanbul-TURKEY, pp 160-165, Nov. 2008
  2. L. Conway, R. A. Volz, and M. W. Walker. “Teleautonomous systems: Projecting and coordinating intelligent action at a distance”, IEEE Transactions on Robotics and Automation, 6(2):146-158, April 1990 J. E. Pennington, “Space Telerobotics: A Few More Hurdles”, IEEE Control Systems Magazine, pp. 30-33, 1987. T. Sheridan, ”Space teleoperation though time delay: Review and prognosis”, IEEE Trans. Robotics and Automa- tion, Vol. 9, No. 5 pp. 592-606, Oct. 1993. R. J. Anderson and M. W. Spong, “Bilateral Control of Tele-operators with Time Delay”, IEEE Trans. Autom. Control, Vol. 34, No. 5, pp.494–501, May 1989. G. Niemeyer and J. J. E. Slotine, “Stable Adaptive Teleoperation”, IEEE J. Ocean. Eng., Vol. 16, No. 1, pp. –162, Jan. 1991. J. E. Colgate, “Robust Impedance Shaping Telemanipulation”, IEEE Trans. Robot. Autom., Vol. 9, No. 4, pp. –384, 1993.
  3. H. K. Khalil, Nonlinear Systems (Third Edition),New Jersey: Prentice Hall Inc.2002
  4. D. Lee, P. Y. Li, ”Passive Coordination Control of Nonlinear Bilateral Teleoperated Manipulators”, Proc. of the IEEE Int. Conf. on Robotics and Automation, pp: 3284-3289,
  5. Washington DC, May 2002.
  6. J. Ryu, D. Kwon, and B. Hannaford, “Stable Teleoperation with Timedomain Passivity Control”, IEEE Trans. Robot. Autom., Vol. 20, No. 2, pp. 365–373, April 2004. D. A. Lawrence, “Stability and Transparency in Bilateral Teleoperation”, IEEE Trans. Robot. Autom., Vol. 9, No., pp. 624–637, Oct. 1993. D. J. Lee and P. Y. Li, “Passive Bilateral Feedforward Control of Linear Dynamically Similar Teleoperated Manipulators”, IEEE Trans. Robot. Autom., Vol. 19, No. 3, pp. 443–456, June 2003.
  7. F. L. Lewis, C. T. Abdallah, D. M. Dawson, Control of Robot Manipulators, New York: MacMillan Publishing Co., D. Lee, P. Y. Li, ”Passive Bilateral Control and Tool Dynamics Rendering for Nonlinear Mechanical Teleoperators”, IEEE Trans. Robotics, Vol.21 No. 5, pp.936-951, Oct. 2005.
  8. M.McIntyre, W. Dixon, D. Dawson, ve E. Tatlıcıo˘glu, ”Passive Coordination of Nonlinear Bilat- eral Teleoperated Manipulators”, Clemson University CRB Technical Report, CU/CRB/8/16/05/#1, http://www.ces.clemson.edu/ece/crb/publitn/tr.htm.
  9. W. Zhou, S.E.Salcudean, “Stability Guaranteed Teleoperation: