Original scientific paperThis paper presents the FPGA implementation of sliding mode control algorithm for bilateral teleoperation, such that, the problem of haptic teleoperation is addressed. The presented study improves haptic fidelity by widening the control bandwidth. For wide control bandwidth, short control periods as well as short sampling periods are required that was achieved by the FPGA. The presented FPGA design methodology applies basic optimization methods in order to meet the required control period as well as the required hardware resource consumption. The circuit specification was performed by the high-level programing language LabVIEW using the fixed-point data type. Hence, short design times for producing the FPGA logic circuit can be achieved. The proposed FPGA-based bilateral teleoperation was validated by master-slave experimental device.Key words: Bilateral teleoperation, Haptics, FPGA, Sliding Mode Control Analiza FPGA implementacije bilateralnih algoritama upravljanja za dodirnu teleoperaciju. Ovaj rad opisuje FPGA implementaciju algoritama upravljanja kliznim režimima za bilateralnu teleoperaciju, pričemu je opisan problem haptičke teleoperacije. Prikazano istraživanje poboljšava dodirnu pouzdanost proširenjem upravljačkog propusnog pojasa. Za široki propusni pojas, potrebni su kratki upravljački periodi i brzo vrijeme uzorkovanja, što je postignuto primjenom FPGA sklopovlja. Prikazana metodologija za projektiranje FPGA sklopovlja koristi osnovne optimizacijske metode s ciljem postizanja potrebnih upravljačkih perioda i zahtijevane fizičke iskorištenosti sklopovlja. Specifikacije sklopovlja su provedene programskim jezikom visoke razine LabVIEW uz korištenje podataka s nepomičnim decimalnim zarezom. Stoga je moguće implementirati traženu logiku na FPGA sklopovlje u kratkom vremenu. Opisana bilateralna teleoperacija temeljena na FPGA slopovlju je testirana na eksperimentalnom postavu s nadre enim i podre enimčvorom.
This paper deals with teleoperated robotic systems which are commanded by a human operator via a command interface that provides task feedback information. Advanced task performance requires not only a visual but also a haptic feedback that is more intuitive. Such command interface with the haptic feedback is called a haptic interface and the teleoperator system is controlled bilaterally. The paper proposes a novel bilateral control scheme which is designed based on a modal decomposition to decouple force and position coordinates for the vivid haptic interface. The control algorithm is derived following the sliding mode control approach which guarantees robustness to model perturbation, parameters uncertainty and system disturbance. It was experimentally validated on a simple master-slave teleoperator with 1DOF robotic systems.
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