Bilateral Control of Master-Slave Manipulators with Constant Time Delay

This post is an excerpt from the journal ISA Transactions.  All ISA Transactions articles are free to ISA members, or can be purchased from Elsevier Press.

 

Abstract: This paper presents a novel teleoperation controller for a nonlinear master-slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the passivity based architecture upon the earlier work of Lee and Spong to improve position tracking and consequently transparency in the face of disturbances and environmental contacts. The proposed controller employs a PID controller in each side to overcome some limitations of a PD controller and guarantee an improved performance. Moreover, by using Fourier transform and Parseval’s identity in the frequency domain, we demonstrate that this new PID controller preserves the passivity of the system. Simulation and semi-experimental results show that the PID controller tracking performance is superior to that of the PD controller tracking performance in slave/environmental contacts.

 Free Bonus! To read the full version of this ISA Transactions article, click here.

Join ISA and get free access to all ISA Transactions articles as well as a wealth of other technical content, plus discounts on events, webinars, training & education courses, and professional certification.

Click here to join … learn, advance, succeed!

 

2006 Elsevier Science Ltd. All rights reserved.

Print Friendly

, , , , , , , ,

Pin It on Pinterest

Shares
Share This

Share This

Share this ISA post with your friends!