Implementation of sensory feedback and trajectory tracking in active telemanipulation systems

作     者：Ephanov, AV Hurmuzlu, Y 

作者机构：Mechanical Engineering Department Southern Methodist University Dallas TX 75275 

出 版 物：《JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME》 (美国机械工程师学会汇刊: 动力系统、测量与控制杂志)

年 卷 期：1997年第119卷第3期

页      面：447-454页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0804[工学-仪器科学与技术] 0811[工学-控制科学与工程] 

主　　题：Robotics Haptics Mechanical properties Stress Robustness Control algorithms Uncertainty Robust control Trajectories (Physics) Control equipment Feedback Manipulators 

摘      要：This paper presents an approach to the implementation of sensory feedback in a robotic telemanipulation system. The system considered here consists of kinematically similar master-slave robotic manipulators. We propose a control scheme whereby the slave tracks the motion commanded by the human operator through the master mechanism. The scheme also accommodates, in a unified manner, different sources of sensory feedback. These include combined effects of the interaction with unknown environments and changes in structural properties of the slave manipulator due to additional unknown loads. The control algorithm is based on continuously sliding variable structure control, which is a nonlinear and highly robust control scheme. Due to the robustness of the scheme, the need Sor a priori information about the environment and the load is minimal. This information can be passed on to the system in the form of upper bounds of the interaction forces and additional lends. Experimental studies with a Pneumatic Haptic Interface (PHI) system were conducted to evaluate the performance of the proposed scheme. We used a virtual slave with percent 25 uncertainty to verify the robustness of the controller. We have shown that the proposed scheme can accurately estimate the environmental interaction torques and can robustly track the trajectories commanded by the human operator.