Sensor-less force-reflecting macro–micro telemanipulation systems by piezoelectric actuators

Amini, H.; Farzaneh, Behfar; Azimifar, Farhad; Sarhan, Ahmed A.D.

doi:10.1016/j.isatra.2016.05.006

Cited by 24 publications

(16 citation statements)

References 24 publications

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“…The operator may still feel force feedback even all of the robots stop their motion because of the zero drift. By using the proposed sliding mode control algorithm in (24)- (25), the measured torque signals can remain zero when the no human or environmental force is exerted into the system as shown in Fig. 16.…”

Section: E Dealing With Varying Zero Driftmentioning

confidence: 99%

“…However, they regard the human and environmental impedances as constants with known coefficients or the systems are assumed to be linear with known dynamics, which are against reality. Several force control methods are also applied in the nonlinear teleoperation system by adding the square of force tracking errors [23]- [24] or using dynamic model-based force observer [25]- [27]. Only using force tracking errors with a constant gain as force controllers, these approaches have no superiority on fast convergence of human and environmental forces.…”

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confidence: 99%

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Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Sun

Liao

et al. 2019

IEEE Trans. Cybern.

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This paper develops an innovative multilateral teleoperation system with two haptic devices on the master side and a newly designed reconfigurable multi-fingered robot on the slave side. A novel nonsingular fast terminal sliding-mode algorithm, together with varying dominance factors for cooperation, is proposed to offer this system's fast position and force tracking, as well as an integrated perception for the operator on the reconfigurable slave robot (manipulator). The Type-2 fuzzy model is used to describe the overall system dynamics, and accordingly a new fuzzy-model-based state observer is proposed to compensate for system uncertainties. A sliding-mode adaptive controller is designed to deal with the varying zero drift of the force sensors and force observers. The stability of the closed-loop system under time-varying delays is proved using Lyapunov-Krasovskii functions. Finally, experiments to grasp different objects are performed to verify the effectiveness of this multilateral teleoperation system.

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Section: E Dealing With Varying Zero Driftmentioning

confidence: 99%

mentioning

confidence: 99%

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Sun

Liao

et al. 2019

IEEE Trans. Cybern.

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“…* is the nominal values of that is also neighboring zero. Inspired by [39] and according to the proposed Type-2 modelled dynamics (16), we propose the fuzzy model-based torque observer to estimate the external torques.…”

Section: Lemmamentioning

confidence: 99%

Type-2 Fuzzy logic based time-delayed shared control in online-switching tele-operated and autonomous systems

Sun

Liao

Ren

2018

Robotics and Autonomous Systems

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“…In [20][21][22], according to the improved extended active observer (IEAOB) and extended active observer (EAOB) for teleoperation systems, a force estimation approach was presented. It was demonstrated that closed-loop system stability is occurred in the presence of external uncertainties, but closed-loop system transparency is not considered.…”

Section: Introductionmentioning

confidence: 99%

“…It was demonstrated that closed-loop system stability is occurred in the presence of external uncertainties, but closed-loop system transparency is not considered. In [22,23], a control approach was presented for nonlinear bilateral teleoperation. The control approach contained a PD-type control scheme along with human and environmental forces.…”

Section: Introductionmentioning

confidence: 99%

A passivity-based control strategy for nonlinear bilateral teleoperation employing estimated external forces

Namnabat

Zaeri

Vahedi

2020

J Braz. Soc. Mech. Sci. Eng.

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Teleoperation systems have been presented to handle objects in environments in which the presence of operators are impracticable, unsafe or less effective. In this paper, a passive control strategy employing the new outputs to state synchronization of the master and slave robots is developed to attain position coordination during contact tasks. The proposed control scheme includes position signals plus force signals. However, force measurement in such applications is a major limitation. Therefore, a modified force estimation algorithm is proposed to predict external forces applied on the master and slave robots. The closed-loop bilateral teleoperation system is investigated by employing Lyapunov stability criteria. Finally, the experimental results demonstrate the efficiency of the proposed control scheme. It is observed that, in the presence of the estimated external forces in the control scheme, the slave robot follows the master position in both free and contact motion, and force reflecting occurs properly as well. Moreover, it is verified that the external forces are estimated appropriately through the proposed force estimation algorithm.

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Sensor-less force-reflecting macro–micro telemanipulation systems by piezoelectric actuators

Cited by 24 publications

References 24 publications

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic

Type-2 Fuzzy logic based time-delayed shared control in online-switching tele-operated and autonomous systems

A passivity-based control strategy for nonlinear bilateral teleoperation employing estimated external forces

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