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Performance improvement of bilateral control systems using derivative of force

Published online by Cambridge University Press:  30 July 2018

Eray A. Baran ,
Tarik Uzunovic  and
Asif Sabanovic
Eray A. Baran*
Affiliation:
Faculty of Engineering and Natural Sciences, Istanbul Bilgi University, Istanbul, Turkey.
Tarik Uzunovic
Affiliation:
Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina. E-mail: tuzunovic@etf.unsa.ba
Asif Sabanovic
Affiliation:
Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey. E-mail: asif@sabanciuniv.edu
*
*Corresponding author. E-mail: eray.baran@bilgi.edu.tr
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Summary

This paper proposes a bilateral control structure with a realization of the force derivative in the control loop. Due to the inherent noisy nature of the force signal, most teleoperation schemes can make use of only a proportional (P) control structure in the force channel of the bilateral controllers. In the proposed scheme, an α–β–γ filter is designed to smoothly differentiate the force signal obtained from a reaction force observer integrated to both of the master and slave plants. The differentiated force signal is then used in a proportional-derivative (PD) force controller working together with a disturbance observer. In order to design the overall bilateral controller, an environment model based on pure spring structure is assumed. The controller is designed to enforce an exponentially decaying tracking error for both position and force signals. With the presented controller design approach, one can independently tune the controller gains of the force and the position control channels. The proposed approach is experimentally tested in a platform consisted of direct drive linear motors. As illustrated by the experiment results, the contribution of the PD control in the force channel improves the teleoperation performance especially under hard-contact motion scenarios by attenuating the oscillations, hence, improving the transparency when compared to the structures using only a P force control.

Keywords

HapticsBilateral controlTeleoperationPD force controlα–β–γ filterHard contact motion control
Type
Articles
Information
Robotica , Volume 36 , Issue 11 , November 2018 , pp. 1627 - 1640
Copyright
Copyright © Cambridge University Press 2018 

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