TY - JOUR
T1 - The effect of parameters variation on bilateral controller
AU - Ali, Sari Abdo
AU - Miskon, Muhammad Fahmi
AU - Hj Shukor, Ahmad Zaki
AU - Mhoammed, Marwan Qaid
N1 - © 2018 Sari Abdo Ali, Muhammad Fahmi Miskon, Ahmad Zaki Hj Shukor, Marwan Qaid Mhoammed
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Data availability statement:
Not present.
PY - 2018/6/1
Y1 - 2018/6/1
N2 - This paper analyzes the effects of the bilateral control parameters variation on the stability, the transparency and the accuracy, and on the operational force that is applied to DC motor and the master system. The bilateral controller is designed for rehabilitation process. PD controller is used to control the position tracking and a force gain controller is used to control the motor torque. DOB eliminate the internal disturbance and RTOB to estimate the joint torque without using sensors. The system consists of two manipulators, each manipulator has 1dof, master and slave teleoperation system, 4 control-architecture channel, DOB and reaction force observer. The master system is attached to human oberator. The slave system is attached to external load. The aim in this paper is to design the controller so that it requires less force to move the master manipulator and at the same time achieve high performance in position tracking.
AB - This paper analyzes the effects of the bilateral control parameters variation on the stability, the transparency and the accuracy, and on the operational force that is applied to DC motor and the master system. The bilateral controller is designed for rehabilitation process. PD controller is used to control the position tracking and a force gain controller is used to control the motor torque. DOB eliminate the internal disturbance and RTOB to estimate the joint torque without using sensors. The system consists of two manipulators, each manipulator has 1dof, master and slave teleoperation system, 4 control-architecture channel, DOB and reaction force observer. The master system is attached to human oberator. The slave system is attached to external load. The aim in this paper is to design the controller so that it requires less force to move the master manipulator and at the same time achieve high performance in position tracking.
U2 - 10.11591/ijpeds.v9.i2.pp648-659
DO - 10.11591/ijpeds.v9.i2.pp648-659
M3 - Article
AN - SCOPUS:85047533724
SN - 2088-8694
VL - 9
SP - 648
EP - 659
JO - International Journal of Power Electronics and Drive Systems
JF - International Journal of Power Electronics and Drive Systems
IS - 2
ER -