TY - GEN
T1 - Robust impedance control of a delayed telemanipulator considering hysteresis nonlinearity of the piezo-actuated slave robot
AU - Seifabadi, Reza
AU - Rezaei, Seyed Mehdi
AU - Shiry, Saeed
AU - Saadat, Mozafar
AU - Zarei-Nejad, Mohammad
AU - Razi, Kamran
AU - Habibollahi, Hossein
PY - 2008
Y1 - 2008
N2 - The slave robot in this research is a 1-DOF piezo actuatorwhich includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the hysteresis loop. An impedance controller for the master side and a sliding-mode-based impedance controller for the slave side have been proposed. The latter is a sliding mode controller, because the plant is nonlinear and uncertain. Also, it is an impedance controller providing both high performances during contact and excellent tracking in free space motion. These controllers make teleoperator robustly stable against uncertainties and bounded constant time delay. Meanwhile, scaling factors, known as sources of instability, have no disturbing effect. After canceling the nonlinear term out of the teleoperator by the controllers, stability of the entire system will be guaranteed by Llewellyn's absolute stability criterion. Performance of the proposed controllers is investigated through simulation.
AB - The slave robot in this research is a 1-DOF piezo actuatorwhich includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the hysteresis loop. An impedance controller for the master side and a sliding-mode-based impedance controller for the slave side have been proposed. The latter is a sliding mode controller, because the plant is nonlinear and uncertain. Also, it is an impedance controller providing both high performances during contact and excellent tracking in free space motion. These controllers make teleoperator robustly stable against uncertainties and bounded constant time delay. Meanwhile, scaling factors, known as sources of instability, have no disturbing effect. After canceling the nonlinear term out of the teleoperator by the controllers, stability of the entire system will be guaranteed by Llewellyn's absolute stability criterion. Performance of the proposed controllers is investigated through simulation.
KW - Hysteresis
KW - impedance controller
KW - LuGre model
KW - macro-micro telemanipulation
KW - Nonlinear
KW - piezo-actuator
KW - robustness
KW - scaling
KW - sliding mode
KW - time delay
UR - http://www.scopus.com/inward/record.url?scp=54249133463&partnerID=8YFLogxK
U2 - 10.1007/978-3-540-69057-3_7
DO - 10.1007/978-3-540-69057-3_7
M3 - Conference contribution
AN - SCOPUS:54249133463
SN - 3540690565
SN - 9783540690566
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 63
EP - 72
BT - Haptics
PB - Springer Verlag
T2 - 6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008
Y2 - 10 June 2008 through 13 June 2008
ER -