Force reflecting joystick control for applications to bilateral teleoperation in construction machinery

Abstract

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Robust control for master–slave manipulator system avoiding obstacle collision under restricted working space

“…Nowadays, the MSC has been used in several technical applications due to its versatility on the movements performed by the final effector [13, 14]. From the mechanical point of view, the MSC considers that the slave robot manipulator (SRM) is analogous to the master robot manipulator (MRM) [15].…”

Efficient Control of a Non-Linear System Using a Modified Sliding Mode Control

“…Because of the dynamic or hazardous environment of a nuclear power plant it is better to use a robot, whether it is fully autonomous or semi-autonomous. For the dismantling of massive structures, hydraulic operated robot manipulators have been widely used as high-power actuator [1] and should be controlled by tele-operation because of high radioactive environment problem [2][3][4][5][6][7][8]. Hydraulic systems are highly non-linear in nature because they have a lot of uncertainties and non-linearity's.…”

“…To overcome this problem Olgac et al proposed using a sliding perturbation observer (SPO) [2]. SPO is the combination of a perturbation observer and a sliding observer (SO) [3]. SPO used partial state feedback from the non-linear system to estimate other variables in the high-performance state estimator.…”

“…SMCSPO has good state estimation accuracy. This estimation of perturbation is useful in the reduction of chattering by using perturbation compensation techniques [2,3]. SMCSPO is a highly accurate control scheme for the estimation of state and perturbation in control of surgical robots and hydraulic robot manipulators [20][21][22][23].…”

“…The greater the value of gain K, the larger the chattering at the system output, which is a highly undesirable phenomena in mechanical systems. Different techniques have been applied to reduce chattering from SMC, like the introduction of a boundary layer and perturbation compensation techniques [3]. The greater value of gain K increases the breaking frequency of the low pass filter between the sliding surface and perturbation because the system becomes sensitive to high-frequency perturbation.…”