Phase-Lead Stabilization of Force-Projecting Master-Slave Systems With a New Sliding Mode Filter

Author

Kikuuwe, Ryo ; Kanaoka, Katsuya ; Kumon, Tomohiro ; Yamamoto, Motoji

Author_Institution

Dept. of Mech. Eng., Kyushu Univ., Fukuoka, Japan

Volume

23

Issue

6

fYear

2015

Firstpage

2182

Lastpage

2194

Abstract

The force-projecting master-slave (MS) control scheme is the reversed implementation of the conventional force-reflecting scheme. This paper presents a method to stabilize force projecting MS systems using a linear phase-lead compensator and a new nonlinear filter. The nonlinear filter is a modified version of Jin et al.´s parabolic sliding mode filter, which produces a relatively small phase lag. Some numerical properties of the new filter are presented. The filter is then applied to an experimental MS system composed of two industrial manipulators. A force scaling factor of 25 was achieved with maintaining the stability.

Keywords

force control; industrial manipulators; nonlinear filters; stability; variable structure systems; force-projecting MS control scheme; force-projecting master-slave system; industrial manipulators; linear phase-lead compensator; nonlinear filter; parabolic sliding mode filter; phase-lead stabilization; sliding mode filter; Force control; Master-slave; Robot sensing systems; Sliding mode control; Teleoperators; Force control; master-slave (MS) system; noise filter; sliding mode; teleoperation; teleoperation.;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2015.2404893

Filename

7055268