Position and force tracking in nonlinear teleoperation systems under varying delays

被引：53
作者：
Hashemzadeh, Farzad [1 ,2 ]
Tavakoli, Mahdi [2 ]
机构：
[1] Univ Tabriz, Fac Elect & Comp Engn, Dept Control Engn, Tabriz, Iran
[2] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 2V4, Canada
来源：
ROBOTICA | 2015年 / 33卷 / 04期
关键词：
Nonlinear teleoperation; Time-varying time delay; Lyapunov-Krasovskii functional; Force and position tracking; BILATERAL TELEOPERATION; REFLECTION ALGORITHM; TIME-DELAY; TRANSPARENCY; NETWORKS;
D O I：
10.1017/S026357471400068X
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a novel control scheme is proposed to guarantee position and force tracking in nonlinear teleoperation systems subject to varying communication delays. Stability and tracking performance of the teleoperation system are proved using a proposed Lyapunov-Krasovskii functional. To show its effectiveness, the teleoperation controller is simulated on a pair of planar 2-DOF (degree of freedom) robots and experimented on a pair of 3-DOF PHANToM Premium 1.5A robots connected via a communication channel with time-varying delays. Both the planar robots in simulations and the PHANToM robots in experiments possess nonlinear dynamics.
引用
收藏
页码：1003 / 1016
页数：14
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