Title :
Adaptive Teleoperation Control using Online Estimate of Operator´s Arm Damping
Author :
Mobasser, Farid ; Hashtrudi-Zaad, Keyvan
Author_Institution :
Dept. of Electr. & Comput. Eng., Queen´´s Univ.
Abstract :
Indirect adaptive bilateral teleoperation controllers have been designed to provide compromise between stability and performance in the presence of time delays and uncertainties in operator and environment dynamics. So far, the controllers developed utilize online estimate of only environment impedance and they approximate the operator´s arm highly time-varying dynamics with linear-time-invariant dynamic models. In this paper, a force-position teleoperation controller is implemented in which the master damping is adjusted in a dual manner based on the online estimate of operator´s arm damping. To this purpose, a novel methodology for online estimation of forearm damping when arm movement is restricted to only elbow joint motion in horizontal plane is developed. The proposed scheme uses elbow joint angular position and velocity, and electromyogram signals collected from upper arm muscles in a radial basis function artificial neural network for online estimation of damping parameter. The adaptive bilateral controller has experimentally demonstrated superior performance and contact stability compared to a conventional force-position controller in the presence of communication delays
Keywords :
adaptive control; control system synthesis; damping; delays; force control; motion control; position control; radial basis function networks; stability; telecontrol; time-varying systems; uncertain systems; velocity control; adaptive bilateral teleoperation controllers; elbow joint angular position; elbow joint angular velocity; elbow joint motion; electromyogram signals; force-position teleoperation controller; forearm damping; linear time-invariant dynamic models; online estimation; operator arm damping; radial basis function artificial neural network; stability; time delays; time-varying dynamics; upper arm muscles; Adaptive control; Communication system control; Damping; Delay effects; Elbow; Force control; Impedance; Programmable control; Stability; Uncertainty;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376838