NDLI: Higher order sliding mode based impedance control for dual-user bilateral teleoperation under unknown constant time delay

Content Provider	IEEE Xplore Digital Library
Author	Santacruz-Reyes, H. Garcia-Valdovinos, L.G. Jimenez-Hernandez, H. Salgado-Jimenez, T. Garcia-Zarco, L.A.
Copyright Year	2015
Description	Author affiliation: Appl. Res. Div., Center for Eng. & Ind. Dev., Queretaro, Mexico (Santacruz-Reyes, H.; Garcia-Valdovinos, L.G.; Jimenez-Hernandez, H.; Salgado-Jimenez, T.) \|\| Lazaro Cardenas Inst. of Technol. (ITLAC), Cardenas, Mexico (Garcia-Zarco, L.A.)
Abstract	This paper presents a dual-user teleoperation scheme to perform a collaborative task using n-DOF nonlinear manipulators as masters and slave. Impedance controllers for the manipulators are implemented in order to achieve a desired dynamic behavior depending on the user's necessities. Furthermore, a sliding mode controller is introduced to cope with the time delay in the communication channels and the uncertainty in the slave. Since the slave teleoperator is in contact with a rigid environment, the slave controller requires a free of chattering control strategy, which makes first order sliding mode teleoperation control unsuitable. Then a higher order sliding mode based impedance controller is proposed to guarantee robust impedance tracking under constant, but unknown time delay. Therefore, a position scaling factor is incorporated to deal with the different workspaces among masters and slave. The validity of the proposed control scheme is demonstrated via experimentation on a 3-DOF dual-user teleoperation system. While the haptic devices Phantom Premium 1.0A and a Phantom Omni are used as masters, a virtual industrial manipulator Catalyst-5 is used as slave. The dual-user system is tested not only in presence of constant unknown time delay in each of the communication channels but also in free and constrained motion regime.
Starting Page	5209
Ending Page	5215
File Size	3109390
Page Count	7
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7354111
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Impedance Delay effects Uncertainty Robustness Manipulator dynamics
Content Type	Text
Resource Type	Article

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