Bilateral teleoperation with continuously variable scaling and PD force control

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dc.authoridBaran, Eray/0000-0002-6300-061X|Oztoprak, Burak/0000-0002-1992-9448
dc.authorwosidAsif, Sabanovic/N-7789-2013
dc.authorwosidBaran, Eray/U-3499-2019
dc.contributor.authorOztoprak, Burak
dc.contributor.authorBaran, Eray A.
dc.contributor.authorSabanovic, Asif
dc.date.accessioned2024-07-18T20:48:50Z
dc.date.available2024-07-18T20:48:50Z
dc.date.issued2021
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description.abstractThis 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 alpha-beta-gamma 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.en_US
dc.description.sponsorshipIstanbul Bilgi University [2017.01.004]en_US
dc.description.sponsorshipThe author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This study is partially supported by the Internal Research Grant 2017.01.004'' of Istanbul Bilgi University.en_US
dc.identifier.doi10.1177/0142331219895922
dc.identifier.endpage1058en_US
dc.identifier.issn0142-3312
dc.identifier.issn1477-0369
dc.identifier.issue5en_US
dc.identifier.scopus2-s2.0-85078715394en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage1048en_US
dc.identifier.urihttps://doi.org/10.1177/0142331219895922
dc.identifier.urihttps://hdl.handle.net/11411/7967
dc.identifier.volume43en_US
dc.identifier.wosWOS:000509845200001en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSage Publications Ltden_US
dc.relation.ispartofTransactions of The Institute of Measurement and Controlen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectBilateral Controlen_US
dc.subjectContinuous Scalingen_US
dc.subjectVariable Scaled Teleoperationen_US
dc.subjectMotion Controlen_US
dc.subjectMotion Controlen_US
dc.subjectStabilityen_US
dc.subjectSystemen_US
dc.subjectImplementationen_US
dc.titleBilateral teleoperation with continuously variable scaling and PD force controlen_US
dc.typeArticleen_US

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