A Study on the FPGA Implementation of the Bilateral Control Algorithm Towards Haptic Teleoperation

Abstract

This paper presents the FPGA implementation of the sliding mode control algorithm for bilateral teleoperation, such that, the problem of haptic teleoperation is addressed. The presented study improves haptic fidelity by the widening the control bandwidth. For wide control bandwidth, short control periods as well as short sampling periods are required that can be achieved by FPGA. The presented FPGA design methodology applies basic optimization methods in order to meet the requirements in terms of the control period and the hardware resource consumption. The circuit specification was performed by the high-level programing language LabVIEW and using the fixed-point data type. Furthermore, the design methodology allows achieving short design times for producing the FPGA logic circuit. The proposed FPGA-based bilateral teleoperation was validated by 2-DoF master-slave experimental device.