A New Indicator for Gain-Switching Control of Position Error-based Teleoperation System

Author

Razi, Kamran ; Monfaredi, Reza ; Ghydari, Saeed Shiri ; Rezaei, S.M.

Author_Institution

Dept. of Electr. Eng., Amirkabir Univ. of Technol., Tehran

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

1105

Lastpage

1109

Abstract

Some adaptive control schemes was suggested for teleoperation systems. These schemes are based on environment impedance estimation which has abrupt changes. In this paper, estimation loop is applied to identify just gradual variations in the slave robot dynamic. Then the required data for compensating environment changes are explored through accurate slave dynamic. Experimental results for both negligible time delay and 150 ms time delay in the communication channel are included to show the effectiveness of the proposed controller. Also, stability analysis for the designed controller is presented

Keywords

adaptive control; control system synthesis; position control; robot dynamics; telerobotics; time-varying systems; 150 ms; adaptive control; gain-switching control; position error-based teleoperation system; slave robot dynamic; stability analysis; Adaptive control; Communication system control; Control systems; Delay effects; Error correction; Force control; Impedance; Master-slave; Robots; Stability analysis; Teleoperation; Transparency; gain switching controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281819

Filename

4058513