Abstract
This paper proposes a novel bilateral control design based on an estimated reaction force without a force sensor for a three-degree of freedom hydraulic servo system with master–slave manipulators. The proposed method is based upon sliding mode control with sliding perturbation observer (SMCSPO) using a bilateral control environment. The sliding perturbation observer (SPO) estimates the reaction force at the end effector and second link without using any sensors. The sliding mode control (SMC) is used as a bilateral controller for the robust position tracking and control of the slave device. A bilateral control strategy in a hydraulic servo system provides robust position and force tracking between master and slave. The difference between the reaction force of the slave produced by the effect of the remote environment and the operating force applied to the master by the operator is expressed in the target impedance model. The impedance model is applied to the master and allows the operator to feel the reaction force from the environment. This research experimentally verifies that the slave device can follow the trajectory of the master device using the proposed bilateral control strategy based on the estimated reaction force. This technique will be convenient for three or more degree of freedom (DOF) hydraulic servo systems used in dismantling nuclear power plants. It is worthy to mention that a camera is used for visual feedback on the safety of the environment and workspace.
Highlights
This is an era for computer science and technology; automation and remote operation requires time
The manuscript is organized as follows: Section 2 of this paper presents the mechanical structure and dynamics of a 3DOF hydraulic servo system that could be utilized in the dismantling of nuclear power plants
Ms1, Ms2 and Ms3 represent the masses of the base, second link and end effector, L1 and L3 are lengths of base and end effector, L2 represents the length from joint to the centre of mass (COM) of the second link. τe1, τe2 and τe3 represent the reaction torque generated by contact with the environment and joints 1, 2 and 3 respectively, λ represents the dynamical properties regarding the base, θ 1 is the velocity of the first cylinder and x is the velocity of the second cylinder, and T1, T2 and T3 represent joint torques of the base, second link and end effector respectively
Summary
This is an era for computer science and technology; automation and remote operation requires time. Da Sun et al [30], proposed a novel approach for tele-operated systems utilizing an extended prescribed performance control and a wave-based time domain passivity scheme This scheme ensures synchronization of velocity, force, and localization. This scheme is advantageous with low-cost features and ease of implementation as the force sensors requirement is eliminated They proposed a novel control for a nonlinear bilateral tele-operated system with time delays that estimates the force . In keeping a view of the above studies, in this study, we implemented the sliding mode control with sliding perturbation observer (SMCSPO) It is an efficient and robust control algorithm that estimates the reaction force of master and slave and determines the bilateral control of the hydraulic servo system of a 3DOF master–slave robot.
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