Sensorless control scheme for teleoperation with force-feedback, based on a hydraulic servo-mechanism, theory and experiment

• Autorzy: Saków M. , Parus A.
• Języki publikacji: EN

Abstrakty

EN

Telemanipulation systems with force-feedback are being developed from early 70's. These devices were successfully applied for remote manipulation of objects at very large distances. These types of manipulator systems are also applied in hostile environments. This work includes development of a new approach to a control design in bilateral teleoperation with force-feedback. The new control scheme does not require the force sensor placed between the manipulator body and objects of an environment. Presented approach estimates the value of environmental force impact on the manipulator body by an inverse mechanical model of the Slave subsystem. Prediction of the inverse model requires information about the value of current position of a manipulator joint. Presented system uses model estimated on-line, during manipulation tasks. Research was carried out on a hydraulic servo-mechanism test stand. The work ends with the report from the test stand and conclusions.

Słowa kluczowe

EN

Force-feedback; telemanipulation; inverse modeling; prediction of model input

• Wydawca: Wydawnictwo PAK
• Czasopismo: Measurement Automation Monitoring
• Rocznik: 2016
• Tom: Vol. 62, No. 12
• Strony: 417--425
• Opis fizyczny: Bibliogr. 31 poz., rys., schem., tab., wykr., wzory

Twórcy

autor

Saków M.

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

autor

Parus A.

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

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Uwagi

EN

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

PL

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