Load Self-Sensing Control Scheme for Telemanipulation - Part 2: Experiment

eng Article in English DOI: 10.14313/PAR_227/25

send Mateusz Saków , Karol Miądlicki West Pomeranian University of Technology, Faculty of Mechanical Engineering and Mechatronics, 19 Piastów Av., 70-310 Szczecin

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Abstract

The paper presents a novel approach to a control design of bilateral teleoperation systems with force-feedback, dedicated only for a weight sensing. The problem statement, analysis of papers up to date, and the scope of the study are presented. The new control unit for a master-slave system with force-feedback was based on a NARX model. The model was used to subtract a value of force in the force-feedback communication channel that the system might generate during free-motion. The new approach to a control design was validated on a test-stand of a simple rotating pneumatic manipulator arm. The paper presents the modeling procedure of the experimental setup and the model used in the study. Two experiments are described to demonstrate the control unit of the master-slave system with force-feedback.

Keywords

force feedback, inverse modeling, remote control, telemanipulation, telerobotics

Układ sterowania samowyznaczający obciążenie dedykowany dla zdalnej manipulacji - część 2: eksperyment

Streszczenie

W artykule przedstawiono podejście do projektowania sterowania dwustronnych systemów zdalnej operacji ze sprzężeniem zwrotnym, przeznaczonym wyłącznie do wykrywania obciążenia. Opis problemu, analiza dotychczasowych osiągnięć badawczych oraz zakres badania zostały zawarte w pracy. Nowy projekt jednostki sterującej dla systemu Master-Slave z siłowym sprzężeniem zwrotnym oparty został na modelu NARX. Model został użyty do odejmowania wartości siły w kanale komunikacyjnym sprzężenia zwrotnego, który jest generowany przez system podczas ruchu swobodnego. Efektywność działania nowego podejścia została potwierdzone na prostym pneumatycznym stanowisku badawczym obrotowego ramienia manipulatora. W pracy przedstawiono procedurę modelowania i konfiguracji eksperymentalnej, a także model zastosowany w układzie sterowania. Opisane są dwa eksperymenty przeprowadzone na układzie sterowania systemu master-slave z siłowym sprzężeniem zwrotnym.

Słowa kluczowe

odwrotne modelowanie, siłowe sprzężenie zwrotne, telerobotyka, zdalna manipulacja, zdalne sterowanie

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