Abstract:
This paper presents a novel time delay-compensation method for delayed teleoperation systems based on the concept of network disturbance (ND) and an adaptive fuzzy observ...Show MoreMetadata
Abstract:
This paper presents a novel time delay-compensation method for delayed teleoperation systems based on the concept of network disturbance (ND) and an adaptive fuzzy observer. Firstly, a new adaptive fuzzy observer is developed to estimate the robot states, linearize the robot dynamics as well as eliminate model uncertainty and unknown disturbances. With the linearized robot model, a network disturbance observer is then proposed to estimate the ND by lumping all undesired effects caused by time delay into the ND. Furthermore, the proposed delay compensator is applied to a 4 channel time delayed bilateral control system to deal with the communication delay issue. The effectiveness of the proposed method is demonstrated through experiment study.
Published in: 2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)
Date of Conference: 11-13 December 2021
Date Added to IEEE Xplore: 24 January 2022
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