Loading...

Robust adaptive bilateral control of teleoperation systems with uncertain parameters and unmodeled dynamics

Esfandiari, M ; Sharif University of Technology

871 Viewed
  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM.2017.8466184
  3. Abstract:
  4. Kinematic and dynamic parameters of robot manipulators are difficult to measure exactly. Also, time varying unknown dynamical parameters of human arm, during interaction with the master robot and unknown parameters of environment during interaction with the slave robot, in teleoperation systems, insert further uncertainties. Furthermore, unknown parameters, unmodeled dynamics of master/slave robots, human arm model and environment introduce more uncertainties. In this paper, a robust adaptive master-slave teleoperation control strategy is introduced which require neither the exact knowledge about the parameters of the master/slave robots, human arm and environment, because of the adaptability with the unknown parameters, nor the exact dynamical equation of master/slave Falcon robot, because of the robustness against the unmodeled dynamics. Two Novint Falcon robots are used as master/slave robots and due to having the highly nonlinear complexity of these robots, they are considered as a single translational equivalent mechanism with known inertia, damping and stiffness coefficient and an unmodeled dynamic term because of this approximation. The human arm and environment are modeled as a 1-DoF mass, spring and damper model (MSD) with unknown coefficients. Moreover, an additional nonlinear spring and nonlinear damper has been used for better approximation of nonlinear property of the human arm and the environment. A Lyapunov function is introduced for stability and the position tracking convergence proof of the entire teleoperation system. The validity of the theory is confirmed by simulations. © 2017 IEEE
  5. Keywords:
  6. Human and environment nonlinear models ; Master and slave robots ; Position error based adaptive control ; Adaptive control systems ; Dynamics ; Lyapunov functions ; Manipulators ; Remote control ; Robot applications ; Robotics ; Uncertainty analysis ; Adaptive control ; Equivalent mechanisms ; Non-linear model ; Slave robot ; Stiffness coefficients ; Teleoperation systems ; Uncertain parameters ; Unknown coefficients ; Human robot interaction
  7. Source: 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, 25 October 2017 through 27 October 2017 ; 2018 , Pages 95-100 ; 9781538657034 (ISBN)
  8. URL: https://ieeexplore.ieee.org/document/8466184