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

Saków, M.; Miądlicki, K.

doi:10.14313/PAR_227/19

Artykuł - szczegóły

Tytuł artykułu

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

Autorzy

Saków M. , Miądlicki K.

Treść / Zawartość

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Identyfikatory

DOI

10.14313/PAR_227/19

Warianty tytułu

Układ sterowania samowyznaczający obciążenie dedykowany dla zdalnej manipulacji - część 1: teoria

Języki publikacji

Abstrakty

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.

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.

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

19--24

Opis fizyczny

Bibliogr. 46 poz., rys., wzory

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, Poland

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, Poland

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).

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Bibliografia

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