Abstract
Implementation, experimental evaluation and stability analysis of an admittance-controlled teleoperated pneumatic system is presented. A master manipulator navigates a pneumatic slave actuation, which interacts with a human arm as an environment. Considering the external force in the position control loop in the admittance control, enables the slave to handle the external force independent of the master. The proposed control system is evaluated experimentally using the admittance models with different settings. Stability of the control system is analyzed using the concept of Lyapunov exponents. Parametric stability analysis is conducted to show the effect of changing system parameters on stability.
Highlights
Teleoperated robotic systems have been widely employed in various industrial applications [1,2].A teleoperated robotic system incorporates a master manipulator operated by an operator, a slave manipulator that emulates the master and, a central controller that coordinates the system through a communication channel [2]
Considering the benefits of unilateral teleoperation, the goal of this paper is to experimentally evaluate the performance of a unilateral teleoperated system composed of a pneumatic actuator navigated by a master device and analyze the stability of the system
The proposed control system inherited the structural advantages of the unilateral teleoperation system with no need for highly skilled operator, and displayed satisfactory performance in scenarios involving various levels of environmental stiffness and interactions
Summary
Teleoperated robotic systems have been widely employed in various industrial applications [1,2].A teleoperated robotic system incorporates a master manipulator (hand-controlled device) operated by an operator, a slave manipulator that emulates the master and, a central controller that coordinates the system through a communication channel [2]. If the slave sends the interaction force with the environment (external force) back to the master, the teleoperation system is called bilateral; otherwise, it is called unilateral [3]. The operator can deal with the external force by moving the master manipulator [1,2,4]. The external force is managed by the slave manipulator [5]. On the other hand, applying unilateral teleoperation eliminates the complexity of rendering the external force on the master and makes the overall teleoperation system more stable [6]. It helps the operator to focus on navigating the slave by eliminating the burden of dealing with the external force on the master side. The focus of this paper is on unilateral teleoperation of pneumatic actuators. Due to nonlinearities inherent in pneumatic systems caused by compressibility of air and friction, accurate positioning of pneumatics is difficult [7]
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