Teleoperation with inverse dynamics control for PHANToM Omni haptic device

Author

Sansanayuth, Thitipong ; Nilkhamhang, Itthisek ; Tungpimolrat, Kanokvate

Author_Institution

Sch. of Inf., Comput., & Commun. Technol., Thammasat Univ., Pathumthani, Thailand

fYear

2012

fDate

20-23 Aug. 2012

Firstpage

2121

Lastpage

2126

Abstract

In this paper, a teleoperation system using inverse dynamic control is implemented with two PHANToM Omni haptic devices connected in a master-slave configuration. The inverse dynamic control is designed to linearize the nonlinear system and achieve motion tracking between the two devices. This paper provides the kinematic model and dynamic equation of PHANToM Omni haptic device used for constructing the inverse dynamic controller. Experimental results demonstrate the improved trajectory tracking performance of the teleoperated system with an inverse dynamic controller when compared with a conventional PID controller.

Keywords

control engineering computing; end effectors; haptic interfaces; interactive devices; linearisation techniques; manipulator dynamics; manipulator kinematics; mobile robots; nonlinear control systems; telerobotics; three-term control; trajectory control; PHANToM Omni haptic device dynamic equation; PHANToM Omni haptic device kinematic model; PID controller; end effectors; inverse dynamics control; master-slave configuration; mobile robot; motion tracking; nonlinear system linearisation; teleoperation system; trajectory tracking performance; Dynamics; Haptic interfaces; Joints; Kinematics; Nonlinear dynamical systems; Phantoms; Trajectory; Haptics; Inverse dynamics; PHANToM Omni; Phansim; Teleoperation; Trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2012 Proceedings of

Conference_Location

Akita

ISSN

pending

Print_ISBN

978-1-4673-2259-1

Type

conf

Filename

6318365