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Bilateral teleoperation by sliding mode control design approach
Aleš Hace, 2008, original scientific article

Abstract: Sliding mode control has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. The paper deals with bilateral control for a force-reflection master-slave telerobotic architecture. It involves a short overview of basic bilateral modes. Chattering-free SMC design procedure for force-reflecting master-slave teleoperator is presented. The proposed bilateral control scheme was experimentally validated for a 1DOF master-slave teleoperator.
Keywords: telerobotics, teleoperation, bilateral teleoperation, sliding mode control, remote control
Published in DKUM: 31.05.2012; Views: 1932; Downloads: 415
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