Performance improvement of bilateral control systems using derivative of force
Küçük Resim Yok
Tarih
2018
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Cambridge Univ Press
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper proposes a bilateral control structure with a realization of the force derivative in the control loop. Due to the inherent noisy nature of the force signal, most teleoperation schemes can make use of only a proportional (P) control structure in the force channel of the bilateral controllers. In the proposed scheme, an alpha-beta-gamma filter is designed to smoothly differentiate the force signal obtained from a reaction force observer integrated to both of the master and slave plants. The differentiated force signal is then used in a proportional-derivative (PD) force controller working together with a disturbance observer. In order to design the overall bilateral controller, an environment model based on pure spring structure is assumed. The controller is designed to enforce an exponentially decaying tracking error for both position and force signals. With the presented controller design approach, one can independently tune the controller gains of the force and the position control channels. The proposed approach is experimentally tested in a platform consisted of direct drive linear motors. As illustrated by the experiment results, the contribution of the PD control in the force channel improves the teleoperation performance especially under hard-contact motion scenarios by attenuating the oscillations, hence, improving the transparency when compared to the structures using only a P force control.
Açıklama
Anahtar Kelimeler
Haptics, Bilateral Control, Teleoperation, Pd Force Control, Alpha-Beta-Gamma Filter, Hard Contact Motion Control, Disturbance-Observer, Teleoperation, Surgery, Robot, Stability, Design, Space, Fpga
Kaynak
Robotica
WoS Q Değeri
Q4
Scopus Q Değeri
Q1
Cilt
36
Sayı
11
