Nonlinear Bilateral Teleoperation with Flexible-Link Slave Manipulator

被引：0
|
作者：
Rashidinejad, A. [1 ]
Nikravesh, S. K. Y. [1 ]
Talebi, H. A. [1 ]
机构：
[1] Amirkabir Univ Technol, Dept Elect Engn, Ctr Excellence Control & Robot, Tehran 15914, Iran
来源：
2015 3RD RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2015年
关键词：
Bilateral teleoperation; flexible-link manipulator; output redefinition; stability; uncertainty; DISTURBANCE OBSERVER;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper addresses bilateral control of a nonlinear teleoperation system with flexible-link slave manipulator. For this purpose, due to the non-minimum phase behavior of flexible-link manipulators, tip position tracking of the slave manipulator is performed based on the output redefinition method. Moreover, to compensate the uncertainties, a robustifying term is considered in the controller. However, disturbances exerted on the master robot are estimated via a nonlinear disturbance observer. Then, the master force controller is designed based on the estimated value and environmental force feedback from the slave part.
引用
收藏
页码：284 / 289
页数：6
相关论文
共 50 条
  • [21] Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters
    Fabian Schnelle
    Peter Eberhard
    Acta Mechanica Sinica, 2017, 33 (03) : 529 - 542
  • [22] Active Control of Space Flexible-Joint/Flexible-Link Manipulator
    Jia Qingxuan
    Zhang Xiaodong
    Sun Hanxu
    Chu Ming
    2008 IEEE CONFERENCE ON ROBOTICS, AUTOMATION, AND MECHATRONICS, VOLS 1 AND 2, 2008, : 117 - 123
  • [23] Variable structure observer design for flexible-link manipulator control
    Zaki, A
    ElBeheiry, E
    ElMaraghy, W
    TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2003, 27 (1-2) : 107 - 129
  • [24] Genetic tuning of fuzzy logic controller for a flexible-link manipulator
    Shi, LZX
    Trabia, MB
    METMBS'00: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MATHEMATICS AND ENGINEERING TECHNIQUES IN MEDICINE AND BIOLOGICAL SCIENCES, VOLS I AND II, 2000, : 579 - 585
  • [25] Dynamic modeling and extended bifurcation analysis of flexible-link manipulator
    Mehrjooee, Omid
    Dehkordi, Siavash Fathollahi
    Korayem, Moharam Habibnejad
    MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 2020, 48 (01) : 87 - 110
  • [26] Experimental results on discrete-time nonlinear adaptive tracking control of a flexible-link manipulator
    Rokui, MR
    Khorasani, K
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2000, 30 (01): : 151 - 164
  • [27] Neural network controllers for a flexible-link manipulator: Experimental results
    Talebi, HA
    Patel, RV
    Khorasani, K
    PROCEEDINGS OF THE 1998 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2, 1996, : 507 - 511
  • [28] Neural network based identification of flexible-link manipulator dynamics
    Talebi, HA
    Patel, RV
    Asmer, H
    ICONIP'98: THE FIFTH INTERNATIONAL CONFERENCE ON NEURAL INFORMATION PROCESSING JOINTLY WITH JNNS'98: THE 1998 ANNUAL CONFERENCE OF THE JAPANESE NEURAL NETWORK SOCIETY - PROCEEDINGS, VOLS 1-3, 1998, : 107 - 111
  • [29] Inversion-based sliding control of a flexible-link manipulator
    Moallem, M
    Khorasani, K
    Patel, RV
    INTERNATIONAL JOURNAL OF CONTROL, 1998, 71 (03) : 477 - 490
  • [30] Tip position control of a flexible-link manipulator with neural networks
    Tang, Yuan-Gang
    Sun, Fu-Chun
    Sun, Zeng-Qi
    Hu, Ting-Liang
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2006, 4 (03) : 308 - 317
12345