Load Self-Sensing Control Scheme for Telemanipulation - Part 2: Experiment

Saków, M.; Miądlicki, K.

doi:10.14313/PAR_227/25

Artykuł - szczegóły

Tytuł artykułu

Load Self-Sensing Control Scheme for Telemanipulation - Part 2: Experiment

Autorzy

Saków M. , Miądlicki K.

Treść / Zawartość

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Identyfikatory

DOI

10.14313/PAR_227/25

Warianty tytułu

Układ sterowania samowyznaczający obciążenie dedykowany dla zdalnej manipulacji - część 2: eksperyment

Języki publikacji

Abstrakty

The paper presents a novel approach to a control design of bilateral teleoperation systems with force-feedback, dedicated only for a weight sensing. The problem statement, analysis of papers up to date, and the scope of the study are presented. The new control unit for a master-slave system with force-feedback was based on a NARX model. The model was used to subtract a value of force in the force-feedback communication channel that the system might generate during free-motion. The new approach to a control design was validated on a test-stand of a simple rotating pneumatic manipulator arm. The paper presents the modeling procedure of the experimental setup and the model used in the study. Two experiments are described to demonstrate the control unit of the master-slave system with force-feedback.

W artykule przedstawiono podejście do projektowania sterowania dwustronnych systemów zdalnej operacji ze sprzężeniem zwrotnym, przeznaczonym wyłącznie do wykrywania obciążenia. Opis problemu, analiza dotychczasowych osiągnięć badawczych oraz zakres badania zostały zawarte w pracy. Nowy projekt jednostki sterującej dla systemu Master-Slave z siłowym sprzężeniem zwrotnym oparty został na modelu NARX. Model został użyty do odejmowania wartości siły w kanale komunikacyjnym sprzężenia zwrotnego, który jest generowany przez system podczas ruchu swobodnego. Efektywność działania nowego podejścia została potwierdzone na prostym pneumatycznym stanowisku badawczym obrotowego ramienia manipulatora. W pracy przedstawiono procedurę modelowania i konfiguracji eksperymentalnej, a także model zastosowany w układzie sterowania. Opisane są dwa eksperymenty przeprowadzone na układzie sterowania systemu masterslave z siłowym sprzężeniem zwrotnym.

Słowa kluczowe

telemanipulation force-feedback inverse modeling telerobotics remote control

zdalna manipulacja siłowe sprzężenie zwrotne odwrotne modelowanie telerobotyka zdalne sterowanie

Wydawca

Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów PIAP

Czasopismo

Pomiary Automatyka Robotyka

Rocznik

2018

Tom

R. 22, nr 1

Strony

25--30

Opis fizyczny

Bibliogr. 39 poz., rys., wykr.

Twórcy

autor

Saków M.

mateusz.sakow@zut.edu.pl

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

autor

Miądlicki K.

karol.miadlicki@zut.edu.pl

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

Bibliografia

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Uwagi

The work was carried out as part of PBS3/A6/28/2015. “The use of augmented reality, interactive voice systems and operator interface to control a crane”, which was financed by NCBiR.

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).

Typ dokumentu

Bibliografia

Identyfikator YADDA

bwmeta1.element.baztech-99610e45-5aad-4930-95bf-98767968bfdb