Time-Delayed Output Feedback Bilateral Teleoperation With Force Estimation for n-DOF Nonlinear Manipulators

被引：64

作者：

Daly, John M. ^{[1
]}

Wang, David W. L. ^{[2
]}

机构：

[1] JSI Telecom, Kanata, ON K2M 1X3, Canada

[2] Univ Waterloo, Dept Elect & Comp Engn, Waterloo, ON N2K 2E4, Canada

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2014年 / 22卷 / 01期

关键词：

Bilateral teleoperation; force estimation; sliding mode control; sliding mode observers; time delays;

D O I：

10.1109/TCST.2013.2242329

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This brief presents a novel bilateral teleoperation algorithm for n degree of freedom nonlinear manipulators connected through time delays. Central to this approach is the use of second-order sliding mode unknown input observers for estimating the external forces, removing the need for both velocity and force sensors. This leads to a lower-cost hardware setup that provides all of the advantages of a position-force teleoperation algorithm. Stability is guaranteed considering the presence of time delays. Numerical and experimental results are presented.

引用

页码：299 / 306

页数：8

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