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Load Self-Sensing Control Scheme for Telemanipulation - Part 1: Theory

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Warianty tytułu
PL
Układ sterowania samowyznaczający obciążenie dedykowany dla zdalnej manipulacji - część 1: teoria
Języki publikacji
EN
Abstrakty
EN
The paper presents a novel approach to a control design of bilateral teleoperation systems with force-feedback dedicated only for a sensor-less weight sensing. 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 was based on a dynamics inverse 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. A substantial part of the paper, is focused on a development of a mathematical model covering phenomena occurring in the investigated control scheme.
PL
W artykule przedstawiono nowe podejście do projektowania sterowania dwustronnych systemów teleoperacji z siłowym sprzężeniem zwrotnym, dedykowanym tylko do wykrywania obciążenia w postaci ładunku. Opis problemu, analiza dotychczasowych osiągnięć badawczych oraz zakres badania został zaprezentowany w pracy. Nowy projekt jednostki sterującej dla systemu Master-Slave z siłowym sprzężeniem zwrotnym oparty został na dynamicznym modelu odwrotnym. Model został użyty do odejmowania wartości siły w kanale komunikacyjnym sprzężenia zwrotnego, który może generować system podczas ruchu swobodnego. Ważna część pracy została poświęcona analizie matematycznej obejmującego zjawiska zachodzące w badanym schemacie kontroli.
Rocznik
Strony
19--24
Opis fizyczny
Bibliogr. 46 poz., rys., wzory
Twórcy
autor
  • West Pomeranian University of Technology, Faculty of Mechanical Engineering and Mechatronics, 19 Piastów Av., 70-310 Szczecin, Poland
  • West Pomeranian University of Technology, Faculty of Mechanical Engineering and Mechatronics, 19 Piastów Av., 70-310 Szczecin, Poland
Bibliografia
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  • 21. Pajor M., Miądlicki K., Saków M., Kinect Sensor Implementation in Fanuc Robot Manipulation, “Archives of Mechanical Technology and Automation”, Vol. 34, No. 3, 2014, 35-44.
  • 22. Polushin I.G., Takhmar A., Patel R.V., Projection-Based Force-Reflection Algorithms With Frequency Separation for Bilateral Teleoperation, IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 1, 2015, 143-154, DOI: 10.1109/TMECH.2014.2307334.
  • 23. Rakotondrabe M., Ivan I.A., Development and Force/Position Control of a New Hybrid Thermo-Piezoelectric MicroGripper Dedicated to Micromanipulation Tasks, IEEE Transactions on Automation Science and Engineering, Vol. 8, No. 4, 2011, 824-834, DOI: 10.1109/TASE.2011.2157683.
  • 24. Rakotondrabe M., Ivan I.A., Khadraoui S., Clevy C., Lutz P., Chaillet N., Dynamic displacement self-sensing and robust control of cantilever piezoelectric actuators dedicated for microassembly, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 557-562, DOI: 10.1109/AIM.2010.5695741.
  • 25. Rakotondrabe M., Ivan I.A., Khadraoui S., Lutz P., Chaillet N., Simultaneous Displacement/Force Self-Sensing in Piezoelectric Actuators and Applications to Robust Control, IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 2, 2015, 519-531, DOI: 10.1109/TMECH.2014.2300333.
  • 26. Saków M., Marchelek K., Parus A., Miądlicki K., Control scheme without force sensors for load sensing in telemanipulation systems with force-feedback, “Journal of Machine Construction and Maintenance. Problemy Eksploatacji”, No. 3, 2017, 21-30.
  • 27. Saków M., Miądlicki K., Parus A., Self-sensing teleoperation system based on 1-dof pneumatic manipulator, “Journal of Automation, Mobile Robotics and Intelligent Systems”, Vol. 11, No. 1, 2017, 64-76.
  • 28. Saków M., Pajor M., Parus A., Estimation of environmental forces impact on remote control system with force-feedback and upper limb kinematics (in Polish), “Modelowanie Inżynierskie”, Vol. 27, No. 58, 2016, 113-122.
  • 29. Saków M., Pajor M., Parus A., Self-sensing control system determining the environmental force influence on the manipulator during the operation of the telemanipulation system (in Polish), “Projektowanie Mechatroniczne - Zagadnienia Wybrane”, Katedra Robotyki i Mechatroniki, Akademia Górniczo-Hutnicza w Krakowie, 2016, 139-150.
  • 30. Saków M., Parus A., Sensorless control scheme for teleoperation with force-feedback, based on a hydraulic servo-mechanism, theory and experiment, “Measurement Automation Monitoring”, Vol. 62, No. 12, 2016, 417-425.
  • 31. Saków M., Parus A., Miądlicki K., Predictive method of force determination in the force-feedback communication channel of remotely controlled system (in Polish), “Modelowanie inżynierskie”, Vol. 31, No. 62, 2017, 88-97.
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  • 33. Saków M., Parus A., Pajor M., Miądlicki K., Nonlinear inverse modeling with signal prediction in bilateral teleoperation with force-feedback, 2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), IEEE, Międzyzdroje, Poland, 2017, 141-146, 10.1109/MMAR.2017.8046813.
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  • 42. Yokokohji Y., Yoshikawa T., Bilateral control of master-slave manipulators for ideal kinesthetic coupling-formulation and experiment, IEEE Transactions on Robotics and Automation, Vol. 10, No. 5, 1994, 605-620, DOI: 10.1109/70.326566.
  • 43. Yong Z., Barth E.J., Impedance Control of a Pneumatic Actuator for Contact Tasks, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005, 987-992, 10.1109/ROBOT.2005.1570245.
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  • 45. Zhang T., Jiang L., Wu X., Feng W., Zhou D., Liu H., Fingertip Three-Axis Tactile Sensor for Multifingered Grasping, “IEEE/ASME Transactions on Mechatronics”, Vol. 20, No. 4, 2014, 1875-1885, DOI: 10.1109/TMECH.2014.2357793.
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Uwagi
EN
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.
PL
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-a2c95421-f282-4028-a860-b81133818f23
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