Vibration Suppression Design for Virtual Compliance Control in Bilateral Teleoperation

被引：0

作者：

Trakarnchaiyo, Chanuphon ^{[1
]}

Harsha, A. M. ^{[1
]}

Abeykoon, S. ^{[1
]}

机构：

[1] Asian Inst Technol, Ind Syst Engn, Mechatron, Pathum Thani, Thailand

来源：

2017 2ND INTERNATIONAL CONFERENCE ON CONTROL AND ROBOTICS ENGINEERING (ICCRE2017) | 2017年

关键词：

vibration suppression; virtual model; compliance control; bilateral teleoperation; VALIDATION; STABILITY;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Disturbance rejection is an important technique in bilateral teleoperation that can ensure the stability of the system from unwanted inputs. One of the major disturbance for the system is the external vibration from both sides. This paper aims to apply the concept of one degree-of-freedom inertia-spring-damper system for vibration suppression in the bilateral control system. For vibration control, the system compliance for different input frequency is controlled by the value of virtual elements which is designed based on the cut-off frequencies and stiffness of the virtual spring. The performance of the proposed bilateral control system with different virtual parameters is verified through simulation.

引用

页数：6

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