Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

Khan, Shahzad; Şabanoviç, Asif; Nergiz, Ahmet Özcan

doi:10.1109/tie.2009.2018538

Cited by 69 publications

(33 citation statements)

References 30 publications

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“…The covariance matrix of process noise, Q, and the covariance matrix of measurement noise, R, are defined as indicated in equations (3) and (4). For a steady-state Kalman filter in which the noise characteristics are constant, Q and R can be determined using the testing simulations of the measurement sensor signal, which is based on the actual experimental data.…”

Section: Motion Control Of Industrial Robot Using Variable Noise-covamentioning

confidence: 99%

Disturbance Observer and Kalman Filter Based Motion Control Realization

et al. 2018

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Many effective robot-manipulator control schemes using a disturbance observer have been reported in the literature in the past decades. Besides, the disturbance observer combined with the Kalman filter has attracted the attention of researchers in the field of motion control. The major advantage of a motion control system based on the Kalman filter and disturbance observer is the realization of high robustness against disturbance and parameter variations, effective noise suppression and wideband force sensing. This paper presents a survey of motion control based on the Kalman filter and disturbance observer, which have been previously introduced by the authors. Several control schemes, as well as formulations and applications of the Kalman filter and disturbance observer, are described in the paper. The performance and effectiveness of the control schemes are evaluated to give a useful and comprehensive design of the Kalman filter and disturbance observer in various motion control applications.

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Section: Motion Control Of Industrial Robot Using Variable Noise-covamentioning

confidence: 99%

Disturbance Observer and Kalman Filter Based Motion Control Realization

et al. 2018

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“…Manually operable linear drives are capable of 1µm resolution and the automatic movement range of the micrometer tip with respect to the position can be set 50µm (25µm in/out). Nanometer range resolution is achieved for this movement by controlling the piezo voltage [25]. As for the force feedback, a piezoresistive AFM cantilever has been utilized along with a custom built Wheatstone bridge as discussed in the next subsection.…”

Section: Tele-micromanipulationmentioning

confidence: 99%

Task Based Bilateral Control for Microsystems Application

et al. 2011

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Original scientific paperDesign of a motion control system, convenient for a wide range of applications in industry, space, biology, medicine, particularly including more than one physics environment is very important. Well known control architectures like trajectory tracking, compliance control, interaction force control are scientific milestones which has common control task: to maintain desired system configuration. In this concept, motion control system can be an unconstrained motion-performed interaction with neither environment nor any other system, or constrained motionsystem in contact with environment and/or other systems. This paper provides the function based design approach to formulate control of constrained system particularly bilateral systems in micromanipulation applications. The control objective aimed to maintain desired functional relations between human and environment defining convenient tasks and their proper relations on master and slave motion systems. Preliminary results concerning position tracking, force control and transparency between master and slave systems are clearly demonstrated. Key words: Bilateral control, Motion control, Micromanipulation, TeleoperationBilateralno upravljanje zasnovano na zadacima za primjene u mikrosustavima. Sinteza slijednog sustava prikladnog za široki raspon primjena u industriji, svemiru, biologiji, medicini te posebno za primjene koje obuhvaćaju više raličitih fizikalnih okruženja, vrlo je važna. Dobro poznate strukture upravljanja poput slijeenja trajektorije, usklaenog upravljanja i upravljanja interakcijskom silom predstavljaju znanstvene prekretnice koje imaju zajednički upravljački cilj: održavanje željene konfiguracije sustava. U ovom konceptu, slijedni sustav može biti sustav bez ograničenja i bez interakcije s okolinom ili ostalim sustavima, odnosno može biti sustav s ograničen-jima koji je spregnut s okolinom i/ili drugim sustavima. Ovajčlanak opisuje funkcijski zasnovanu sintezu sustava upravljanja za sustav s ograničenjima, a posebno za bilateralne sustave u mikromanipulacijskim primjenama. Cilj upravljanja je održavanje željenih funkcionalnih relacija izmežučovjeka i okoline definirajući prikladne zadaće i njihove odgovarajuće relacije za glavni i podreeni slijedni sustav. Preliminarni rezultati vezani uz upravljanje pozicijom, upravljanje silom te veza izmeu glavnog i podreenog sustava su jasno prezentirani.

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“…In order to validate the position tracking between the master and the slave, the commanded position from the master is transferred after necessary scaling to be tracked by the slave side [31]. Figure 10 illustrates the experimental results for position tracking along with the tracking error of the bilateral controller.…”

Section: Experimental Validation For Force/position Trackingmentioning

confidence: 99%

Force feedback pushing scheme for micromanipulation applications

Khan

Şabanoviç

2009

J. Micro-Nano Mech.

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Pushing micro-objects using point contact provides more flexibility and less complexity compared to pick and place operation. Due to the fact that in micro-world surface forces are much more dominant than inertial forces and these forces are distributed unevenly, pushing through the center of mass of the micro-object may not yield a pure translational motion. In order to translate a micro-object, the line of pushing should pass through the center of friction. In this paper, a semi-autonomous scheme based on hybrid vision/force feedback procedure is proposed to push micro-objects with human assistance using a custom built tele-micromanipulation setup to achieve translational motion. In the semi-autonomous pushing process, velocity controlled pushing with force feedback is realized along x-axis by the human operator while y-axis orientation is undertaken automatically using visual feedback. In this way the desired line Electronic supplementary material The online version of this article (of pushing for the micro-object is controlled to pass through the varying center of friction. Experimental results are shown to prove nano-Newton range force sensing, scaled bilateral teleoperation with force feedback and pushing operation.

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Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

Cited by 69 publications

References 30 publications

Disturbance Observer and Kalman Filter Based Motion Control Realization

Disturbance Observer and Kalman Filter Based Motion Control Realization

Task Based Bilateral Control for Microsystems Application

Force feedback pushing scheme for micromanipulation applications

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