شماره ركورد كنفرانس :
3222
عنوان مقاله :
A Control Methodology for Single-Master/Multi-Slave Two-Channel Transparent Teleoperation Systems
پديدآورندگان :
Sheikhveisi Ahmad Amirkabir University of Technology , Sharifi Iman Amirkabir University of Technology , Motaharifar Mohammad Electrical Engineering Department - Amirkabir University of Technology
كليدواژه :
Control Methodology , Single-Master/Multi-Slave , Transparent Teleoperation Systems
عنوان كنفرانس :
دومين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
In this paper, a new control methodology for singlemaster/ multi-slave teleoperation systems is presented. First, the
dynamics of slave robots and the tool are incorporated into an augmented system. Then, an adaptive sliding mode controller is proposed to transform both tool and master dynamics into desired impedances in the presence of unmodeled dynamics. Then, the traditional two channel architecture is modified in order to achieve prefect transparency. Finally, simulation results are presented to illustrate the enhanced performance of the proposed control methodology.
