0

Full Content is available to subscribers

Subscribe/Learn More  >

Adaptive Control of a Macro/Micro Bilateral Teleoperation System Under Variable Time Delay

[+] Author Affiliations
A. Monemian Esfahani, S. M. Rezaei, M. Zareinejad

Amirkabir University of Technology, Tehran, Iran

Mozafar Saadat

University of Birmingham, Birmingham, UK

Paper No. IMECE2010-40606, pp. 529-534; 6 pages
doi:10.1115/IMECE2010-40606
From:
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME

abstract

In this paper a new stable adaptive control for a Macro-Micro bilateral teleoperation system is proposed. Our platform to implement the controllers consists of a servo DC motor (macro) as the master robot and a piezo-actuator (micro) as the slave robot. Piezo-actuator has some characteristics which disturb the transparency and stability of the teleoperation system. We add a nonlinear disturbance observer to the slave robot controller in order to observe and compensate the disturbances. It is recognized that the presence of time delay is one of the largest barriers in teleoperation systems. This problem is mainly due to the distance separating the master from the slave and also is due to lag effect of filters and motor drivers. Because the time delay is unknown and variable, it can make the system unstable. In this paper, all of the above controllers are discussed using variable time delay. The stability of the system under variable time delay is guaranteed by Lyapunov stability criterion and passivity based methods. Tracking of force/position is achieved by selecting the best design parameters. Performance of the proposed control is validated by experimental results.

Copyright © 2010 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In