Abstract
This paper presents a novel force sensorless reflecting controller for a haptic-enabled device driven by a bilateral pneumatic artificial muscle system, which proposed configuration for the first time the bilateral haptic teleoperation. For details, an adaptive force observer scheme considered to be an alternative to direct force measurement is proposed to estimate the interaction force with an unknown environment for the force reflecting control design. Meanwhile, the separately fast finite time nonsingular terminal sliding mode control schemes are developed based on the force estimation in both subsystems to achieve good tracking performance and fast response. Thus, the great transparency performance with both force feedback and position tracking can be achieved simultaneously by using our proposed method. The finite-time stability of the total controlled system is demonstrated by the Lyapunov approach. Moreover, the comparative experiments are carried out on the developed testbench to validate the effectiveness and advantages of our proposed control design in the different working conditions.
Highlights
In recent years, the teleoperation techniques have been developed to reach a high level of sophistication and rapidly played an important role in numerous practical applications, such as robotic surgery, nuclear source detection, robotic construction [1]–[4]
According to the above analysis, this paper proposes control schemes based on a combination of adaptive force observer (AFOB) and fast nonsingular TSMC (FNTSMC) scheme in a manipulated smart deburring regardless of a dynamic model and parametric uncertainties for the master and slave systems, which can guarantee the stability with fast convergence error and tight tracking performance
This section presents the experimental results of the position tracking control and force reflecting control with AFOB on the bilateral teleoperation system, which is separated into two aspects
Summary
The teleoperation techniques have been developed to reach a high level of sophistication and rapidly played an important role in numerous practical applications, such as robotic surgery, nuclear source detection, robotic construction [1]–[4] These systems required the possibility of physical interaction with the remote environment to provide the feeling of the present there, called haptic. Motor-driven actuators [5] are widely used given their characteristics of safety and capability of providing suitable force for small haptic devices according to the required state They are incompatible with the applications that have extensively magnetic interference because of producing their own magnetic fields. The pneumatic artificial muscle actuators (PAMs) possessed the advantages of a lightweight, reasonable safety and a high power-to-weight ratio, which have been considered as one of the most promising solutions for haptic devices in many applications such as
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