Performance improvement of bilateral control systems using derivative of force

Baran, Eray A.; Uzunović, Tarik; Şabanoviç, Asif

doi:10.1017/s0263574718000607

Cited by 5 publications

(2 citation statements)

References 51 publications

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“…Compensation of the disturbances acting on a motion control system is a very well investigated concept in many different studies [22][23][24]. Here, a short derivation of the robust acceleration tracking control algorithm will be made for a single degree of freedom (DOF) system.…”

Section: Disturbance Observer Based Robust Acceleration Controlmentioning

confidence: 99%

A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots

Al-Hababi¹,

Ezim²,

Canbek³

et al. 2021

Turk J Elec Eng & Comp Sci

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This paper investigates a multiple sensor fusion based drift compensation technique for a mecanum wheeled mobile robot platform. The mobile robot is equipped with high precision encoders integrated to the wheels and four accelerometers placed on its chassis. The proposed algorithm combines the information from the encoders and the acceleration sensors to estimate the total drift in the acceleration dimension. The inner loop controller is designed utilizing a disturbance observer based acceleration control structure which is blind against the slipping motion of the wheels. The estimated drift acceleration from the sensor fusion is then mapped back to the joint space of the robot and used as additional compensation over the existing controllers. The proposed algorithm is tested on a series of experiments. The results of the experiments are also compared with a recent study in order to provide a benchmark evaluation. The enhanced tracking performance yielding towards smaller error magnitudes in the experiments illustrate the efficacy and success of the proposed control architecture in attenuating the positioning drift of mecanum wheeled robots.

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Section: Disturbance Observer Based Robust Acceleration Controlmentioning

confidence: 99%

A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots

Al-Hababi¹,

Ezim²,

Canbek³

et al. 2021

Turk J Elec Eng & Comp Sci

Self Cite

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“…the acquisition of the yank response via an α - β - γ filter, which was proven to smoothly differentiate the force signal during real-time implementation in Baran et al (2018);…”

Section: Introductionmentioning

confidence: 99%

Bilateral teleoperation with continuously variable scaling and PD force control

Oztoprak

Baran

Şabanoviç

2020

Transactions of the Institute of Measurement and Control

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This paper investigates the bilateral teleoperation with the possibility of continuously variable scaling during real-time operation. The algorithm proposed for this purpose provides the operator with the ability to change the scaling gains of force and velocity loops during operation. The controllers are derived to enforce exponentially decaying error dynamics on systems which have inner loop disturbance compensation. The proposed architecture assumes the scale factors as continuous functions of time which have continuous derivatives that are also included in the mathematical derivation. Unlike the existing studies, the presented framework allows real-time adaptation of scaling gains, which provides the user with the ability to conduct coarse and fine motion in the same operation. The Lyapunov stability proof of the proposed method is made and the margins of the controller gains are identified for practical operation. Furthermore, the operational accuracy is enhanced by the application of a PD force control loop which is also new for scaled bilateral teleoperation. The realization of PD loop is made using an [Formula: see text]-[Formula: see text]-[Formula: see text] filter to differentiate the force signal. The algorithm is validated on a setup consisted of two single DOF motion control systems. In order to provide a complete analysis, a wide range of experiments are made, velocity and force scales having sinusoidal patterns with different amplitudes and frequencies. Moreover, comparison with a classical bilateral control architecture is made to highlight the flexibility of the proposed control method. The efficacy of the proposed approach is solidified by the successful tracking responses obtained from these experiments.

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Kinematic jerk and jounce for multibody dynamics with joint constraints

Sommer

2024

Mechanism and Machine Theory

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Performance improvement of bilateral control systems using derivative of force

Cited by 5 publications

References 51 publications

A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots

A multiple sensor fusion based drift compensation algorithm for mecanum wheeled mobile robots

Bilateral teleoperation with continuously variable scaling and PD force control

Kinematic jerk and jounce for multibody dynamics with joint constraints

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