Bilateral control with continuously variable scaling

Oztoprak, Burak and Baran, Eray A. and Şabanoviç, Asif (2018) Bilateral control with continuously variable scaling. In: 6th International Conference on Control Engineering & Information Technology (CEIT), Istanbul, Turkey

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This paper proposes a method for the scaled bilateral teleoperation with continuously variable position and force scaling. In the proposed method, the controller is reformulated to synchronize the forces and velocities which provides the operator with the ability to change the scaling gains during operation. For the derivation of the controller, exponentially decaying error dynamics are preferred over the assumption of disturbance compensation with Disturbance Observers (DOB). Following the mathematical derivation, the algorithm is tested on a setup containing single DOF master and slave robots with the ability of giving force feedback to the operator. In order to provide a complete analysis, several different sets of experiments are made with sinusoidal velocity and force scales having different amplitudes and frequencies. Experiment results illustrate the successful tracking responses and stable operation of the proposed control scheme for the continuously varying velocity and force scales.
Item Type: Papers in Conference Proceedings
Uncontrolled Keywords: Bilateral Control; Continuous Scaling; Motion Control; Variable Scaled Teleoperation
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Asif Şabanoviç
Date Deposited: 24 Jul 2023 21:11
Last Modified: 24 Jul 2023 21:11

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