Modelling of a Wave-Based Bilateral Teleoperation System: A New Approach to Control a Two Degree of Freedom Robot Model

Author

Tabib, S. R Seyed ; Jalali, Ali A.

Author_Institution

Fac. of Electr. Eng., Iran Univ. of Sci. & Technol., Tehran

fYear

2008

Firstpage

691

Lastpage

695

Abstract

Time delay is a serious problem for bilateral teleoperation systems. Even a small time delay in a bilateral teleoperation system will generally degrade the system´s performance and cause instability. Wave variable based on passivity and scattering theory method is an important approach that guarantees stability and establishes bilateral teleoperation in the presence of any constant time delay. In this paper, a new control scheme based on wave variables is proposed. This control scheme, is composed of feedback linearization method combined with PD controller to control a nonlinear model. A 2-DOF (degree-of-freedom) bilateral teleoperation system using the new Structure method is simulated using a SIMULINK model in MATLAB environment.

Keywords

PD control; delays; linearisation techniques; nonlinear control systems; telerobotics; 2-DOF robot model; MATLAB environment; PD controller; SIMULINK model; degree of freedom; feedback linearization method; nonlinear control model; time delay; wave-based bilateral teleoperation system; Degradation; Delay effects; Linear feedback control systems; MATLAB; Mathematical model; PD control; Robots; Scattering; Stability; System performance; PD controller; Teleoperation Systems; Time Delay; Wave Variable; feedback linearization;

fLanguage

English

Publisher

ieee

Conference_Titel

Modeling & Simulation, 2008. AICMS 08. Second Asia International Conference on

Conference_Location

Kuala Lumpur

Print_ISBN

978-0-7695-3136-6

Electronic_ISBN

978-0-7695-3136-6

Type

conf

DOI

10.1109/AMS.2008.116

Filename

4530559