IRANIAN JOURNAL OF ELECTRICAL AND ELECTRONIC ENGINEERING
IJEEE
Engineering & Technology
http://ijeee.iust.ac.ir
18
agent2
1735-2827
1735-2827
en
jalali
1393
6
1
gregorian
2014
9
1
10
3
online
1
fulltext
en
Bilateral teleoperation control to improve transparency in stiff environment with time delay
Robotics
Robotics
Research Paper
Research Paper
This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller, where online estimation of the environment impedance is performed, and then used as the desired impedance at the master side. Numerical simulations are provided to verify the theoretical results under different conditions, such as constant and time-varying delay, obstructed environment and transitioning between soft and stiff environment. Afterwards, comparison with a recent work is addressed.
Adaptive Impedance Control,Adaptive Sliding Mode Control,Teleoperation,Transparency,
203
211
http://ijeee.iust.ac.ir/browse.php?a_code=A-10-1138-1&slc_lang=en&sid=1
M.
Azadegan
azadegan@modares.ac.ir
180031947532846002921
180031947532846002921
No
Tarbiat Modares University
S.
Ozgoli
ozgoli@gmail.com
180031947532846002922
180031947532846002922
Yes
Tarbiat Modares University
H.
Taghirad
taghirad@kntu.ac.ir
180031947532846002923
180031947532846002923
No
K.N. Toosi University of Technology