A NEW ADAPTIVE CONTROL SCHEME FOR TELEOPERATION WITH VARYING TIME DELAY
Publish place: 14th Annual Conference of Mechanical Engineering
Publish Year: 1385
نوع سند: مقاله کنفرانسی
زبان: English
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شناسه ملی سند علمی:
ISME14_515
تاریخ نمایه سازی: 1 فروردین 1386
Abstract:
A new method for controlling robots over the internet, where communication propagation delays exist, is presented. These delays are potentially destabilizing, and certainly degrade the human operator’s intuition and performance. Taking into account the time-varying non-deterministic nature of the control and delays, a novel adaptive inverse controller is proposed. Moreover, force feedback is provided to ensure that the system is robust and transparent. Special strategy has been presented to determine the reference model for adapting the slave-side controller and accordingly, drift in position tracking has been compensated in free motion status and reduced in hard contact.
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Authors
sha Sadeghi
ph.D., student of Control Eng. Tarbiat Modares University
Momeni
Associate professor of Control Eng. Dept. of Engineering Faculty, Tarbiat Modares University
Amirifar
Associate professor of Control Eng. Dept. of Engineering Faculty, Tarbiat Modares University
Ganjehfar
Associate professor of Control Eng. Dept. of Engineering Faculty, Bu Ali Sina University
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