Force Reflecting Control of the Telerobotic System with Time Delay

• Main Authors: Huang, Cheng-Kuang, 黃承光
• Other Authors: Tsing-Iuan Tsay
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/22516289234200766200

碩士 === 國立成功大學 === 機械工程學系 === 86 === A telerobotic system is composed of one hand controller and one slave robot which are electronically connected through communication link to provide a longer reach for a human operator. It allows the human operator to hold the hand controller to control the slave robot to manipulate an environment from a remote and safe location. With the force feedback from the slave robot, the operator perceives the interaction with the environment. However, the signal transmission is delayed due to the long distance between the hand controller and the slave robot. A force reflecting telerobotic system has traditionally had severe stability problems when executed in the presence of transmission delays. The goal of this thesis is to develop a design framework for obtaining a bilateral force-reflecting controller for the telemanipulation with time delay. The design framework is based upon the proposed control structure and the chosen performance specifications. This design framework involves the application of the proposed fuzzy sliding mode impedance control and fuzzy sliding mode control. Finally, the theoretical results are experimentally verified on a two degree-of-freedom telerobotic system, which is set up at the Robotic Systems and Control Laboratory of National Cheng Kung University. Specific experimental demonstrations include unconstrained and constrained telemanipulations.