- Tytuł:
- Self-sensing teleoperation system based on 1-dof pneumatic manipulator
- Autorzy:
-
Saków, M.
Miądlicki, K.
Parus, A. - Powiązania:
- https://bibliotekanauki.pl/articles/385020.pdf
- Data publikacji:
- 2017
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
telerobotics
modeling
inverse problems
manipulators - Opis:
- Paper presents a novel approach to a control design of bilateral teleoperation systems with force-feedback. The problem statement, analysis of research achievements to date, and the scope of the study are presented. The new design of a control unit for a master-slave system with force-feedback is presented on a simple and ideal 1-DOF bilateral teleoperation system. System control unit was based on an inverse model. The model was used to reduce value of force in the force-feedback communication channel, that the system might generate in freemotion. A substantial part of the paper is focused on the development of a mathematical model covering phenomena occurring in the investigated control scheme. The new approach was validated on a test-stand of a rotating non-linear pneumatic manipulator arm. Two linear pneumatic actuators were used in the drive system. The paper presents the modeling procedure of the experimental setup and the model used in the study. Three experiments are described to demonstrate the new control approach to master-slave objects with force-feedback. The paper contains conclusions regarding the control system and the experimental setup.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 1; 64-76
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł