Self-sensing teleoperation system based on 1-dof pneumatic manipulator

• Autorzy: Saków M. , Miądlicki K. , Parus A.

Identyfikatory

DOI

10.14313/JAMRIS_1-2017/9

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

telerobotics; modeling; inverse problems; manipulators

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2017
• Tom: Vol. 11, No. 1
• Strony: 64--76
• Opis fizyczny: Bibliogr. 57 poz., rys.

Twórcy

autor

Saków M.

• Institute of Mechanical Technology, Faculty of Mechanical Engineering and Mechatronics, West Pomeranian University, Szczecin, 70-310 Piastów 19, Poland

autor

Miądlicki K.

• Institute of Mechanical Technology, Faculty of Mechanical Engineering and Mechatronics, West Pomeranian University, Szczecin, 70-310 Piastów 19, Poland

autor

Parus A.

• Faculty of Mechanical Engineering and Mechatronics, West Pomeranian University, Szczecin, 70-310 Piastów 19. Poland

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).