By Topic

Sliding mode control for robotic teleoperation system with a haptic interface

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hace, A. ; Univ. of Maribor, Maribor, Slovenia ; Franc, M.

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.

Published in:

Emerging Technologies & Factory Automation (ETFA), 2011 IEEE 16th Conference on

Date of Conference:

5-9 Sept. 2011