Nonlinear bilateral teleoperation with flexible-link slave manipulator

Rashidinejad, Aida; Nikravesh, S.K.Y.; Talebi, Heidar Ali

doi:10.1109/icrom.2015.7367798

Cited by 4 publications

(1 citation statement)

References 12 publications

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“…Yaryan et al (2012) developed an input-shaping PD control scheme to address the input tracking and vibrational elimination problem of a BTS-based surgical robot with flexible links. Rashidinejad et al (2015) developed a BTS with a flexible-link slave manipulator, where the tip position tracking problem was addressed by the output redefinition method. Rasouli et al (2020) considered a BTS composed of a rigid master robot and a flexible-link slave robot; they proposed a simple PD control structure to handle the control aspect of the system in the presence of actuator faults and disturbances.…”

Section: Introductionmentioning

confidence: 99%

Bilateral coordination control of flexible master–slave manipulators using a partial differential equation model

Yang

Liu

2020

Journal of Vibration and Control

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In this study, we evaluate the coordination tracking control problem of a flexible master–slave teleoperation system. The system under consideration is based on a dynamic model described by a set of partial differential equations. Existing research on bilateral controllers is based on teleoperation systems composed of rigid master robots and rigid or flexible slave robots. In this work, we consider teleoperation systems with flexible master and slave robots. We dynamically model flexible master–slave manipulators using partial differential equations. Based on the dynamic model, a bilateral coordination controller is developed to realize the coordination angle tracking and vibration suppression of flexible master–slave manipulators. The teleoperation system is proven to be asymptotically stable under the control scheme. Numerical simulation results illustrate that the proposed controller is effective.

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Section: Introductionmentioning

confidence: 99%