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Paper TuP205.5

Shahbazi, Mahya (AmirKabir University of Technology), talebi, ali (AmirKabir University of technology), Atashzar, Seyed Farokh (AmirKabir University of Technology), Towhidkhah, Farzad (Amirkabir University of Technology), Patel, Rajni (The University of Western Ontario), Shojaei, Siamak (Amirkabir University of Technology)

A Novel Shared Structure for Dual User Systems with Unknown Time-Delay Utilizing Adaptive Impedance Control

Scheduled for presentation during the Regular Sessions "Teleoperation III" (TuP205), Tuesday, May 10, 2011, 16:25−16:40, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Telerobotics, Teleoperation, Robust/Adaptive Control of Robotic Systems

Abstract

In this paper, a novel decentralized multilateral structure is proposed for the dual user systems in the presence of communication delay. The proposed structure utilizes adaptive impedance control approach in order to overcome the destructive effect of the time-delay on system desired-objectives, which is a disregarded issue in the previous studies on dual user system. The proposed control strategy, which utilizes three desired impedance surfaces defined in the paper, satisfactorily brings the system hybrid matrix close to the ideal one that guarantees the system stability and transparency. The controller is designed in a way that eliminates the necessity of the delay estimation as one of its outstanding characteristics; consequently, the unknown communication time-delay can be handled via this structure while previous studies have disregarded the issue of time delay in dual user system. Furthermore, the adaptive structure of the controller promises to overcome the uncertainties on robotís dynamics. In addition, the efficiency of the controller in guaranteeing the system stability in presence of unknown communication delay is investigated through passivity theory and the presented analysis illustrates complete independency of the closed-loop system stability on time delay value applying the proposed controller. Experimental results performed on a delayed dual user system demonstrate validity of the proposed scheme.

 

 

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