Bilateral Teleoperation by Sliding Mode Control Design Approach
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| Title | Bilateral Teleoperation by Sliding Mode Control Design Approach |
| Authors | |
| 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. |
| Publisher | kassel university press GmbH |
| Date | 2008-10-30 |
| Source | 1868-1646 |
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