Reaction force estimation and bilateral control of master slave manipulation using a robust controller
- Resource Type
- Authors
- Karam Dad; Saad Jamshed Abbasi; Wang Jie; Min Cheol Lee
- Source
- HSI
- Subject
- 0209 industrial biotechnology
Computer science
020208 electrical & electronic engineering
Master/slave
02 engineering and technology
Servomechanism
Servomotor
Sliding mode control
law.invention
020901 industrial engineering & automation
Reaction
law
0202 electrical engineering, electronic engineering, information engineering
Robot
Hydraulic machinery
Electrical impedance
Simulation
- Language
In this paper, proposed a reaction force estimation and bilateral control of master slave manipulation in hydraulic servo system based on Sliding mode control with sliding perturbation observer (SMCSPO). The reaction force is estimated by sliding perturbation observer (SPO) without using any force sensor. The estimated reaction force without force sensor is transmitted to the master device using the impedance model controller. Sliding mode control (SMC) is used to a bilateral controller for the position and force tracking control of a slave. This study proves in experiment that the slaver of a hydraulic servo system can follow the trajectory of the master device (Human Command) using the bilateral control scheme.