Sistema de Control Bilateral Adaptativo por Convergencia de Estados en Teleoperación
DOI:
https://doi.org/10.1016/S1697-7912(10)70041-8Palabras clave:
Control Adaptativo, Convergencia de Estados, Modelado, Teleoperación, BilateralResumen
En este artículo se presenta el diseño y aplicación de un método de control adaptativo para un sistema bilateral de teleoperación. El esquema y algoritmo de control se ha formulado en el espacio de estados siguiendo una técnica de control por convergencia del estado de maestro y esclavo. Sobre dicho esquema de control se han ajustado a través del método adaptativo las ganancias de los lazos de control para obtener un sistema bilateral estable con la reflexión de fuerzas deseada. La validación del método de control diseñado se ha realizado con un sistema experimental maestro-esclavo de un grado de libertad, pero los resultados también son aplicables con varios grados de libertad.Descargas
Citas
Anderson R. J. y M. W. Spong (1989). Bilateral Control of Teleoperators with Time Delay. IEEE Transactions on Automatic Control, Vol. 34(5), 494-501.
Aracil R., Ferre M., Hernando M., Pinto E. y Sebastian J.M. (2002). Telerobotic system for live-power line maintenance: ROBTET. Control Engineering Practice, Vol. 10, 1271–1281.
Aström K.J and B. Wittenmark (1995). Adaptative Control. Addison-Wesley Publishing Company.
Azorin J. M. (2003). Control Bilateral por Convergencia de Estado de Sistemas Teleoperados con Retardos en la Transmisión. Tesis Doctoral, Universidad Miguel Hernández, España.
Canudas de Wit, C. Siciliano B., and Bastin G. Theory of Robot Control. Springer (1997) ISBN 3-540-76054-7
Craig J. J. (1988). Adaptive Control of Mechanical Manipulators. Addison-Wesley Publishing Company. Second Edition.
Feliu V., K. S. Rattan and H. B. Brown (1989). Adaptive Control of a Single-Link Flexible Manipulator. In The Presence Of Joint Friction And Load Changes. Proceedings of the IEEE International Conference on Robotics and Automation, Pittsburgh, 1036-1041.
Ghorbel F., J. Y. Hung and M. W. Spong (1989). Adaptive Control of Flexible-Joint Manipulators. Control Systems Magazine, IEEE, Vol. 9(7), 9-13.
Goertz R. (1964). Manipulators Systems Development at ANL. Proceedings 12th Conference on Remote Systems Technology, ANS.
Guthart G. S. y Salisbury J. K. (2000). The intuitive telesurgery system: Overview, application. Proceedings IEEE Int. Conf. Robotics and Automation, 618–621.
Hannaford B. (1989). Stability and Performance Tradeoffs in Bilateral Telemanipulation. Proceedings of the IEEE International Conference on Robotics and Automation, 1764-1967.
Hashtrudi-Zaad K. and S. E. Salcudean (1996). Adaptive Transparent Impedance Reflecting Teleoperation. Proceedings of the IEEE International Conference on Robotics and Automation, 1369-1374.
Hosseini-Sunny K., H. Momeni and F. Janabi-Sharifi (2005). Adaptive Teleoperation Systems Design. Proceedings of the IEEE Conference on Control Applications, 334-339.
Kaneko, K., Tokashiki, H., Tanie, K., Komoriya, K. Macromicro bilateral teleoperation based on operational force feedforward-operational force feedforward bilateral teleoperation and its dexterity. IEEE/RSJ International Conference. (1998). Vol3. Pag.1761 – 1769.
Khalil H.K., Nonlinear Systems. Macmillan, New York (1992)
Keller U., K. Müller, N. Hickey, D. Ready and R. Leitch (1998). Extending the Gradient Method to Qualitative Model Reference Adaptive Control. UKACC International Conference on Control.
Kelly R. and R. Carelli (1988). Unified approach to adaptive control of robotic manipulators. Proceedings of the IEEE Conference on Decision and Control, Austin.
Landau Y. D., (1979). Adaptative control-The Model ReferenceApproach. Mardel Dekker, Inc.
Lawrence D. A (1992). Designing Teleoperator Architectures for Transparency. Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1406-1411.
Lee H. K., M. H Shin and M. J. Chung, (1997). Adaptive Controller of Master-Slave for Transparent Teleoperation. ICAR, 1021-1026.
Niemeyer G. and J. J. E. Slotine (1991). Stable Adaptive Teleoperation, IEEE Journal of Oceanic Engineering, Vol. 6(1), 152-162.
Peñin L. F (1998). Control Bilateral de Robots Teleoperados. Contribuciones a la Reflexión de Fuerzas. Tesis Doctoral, Universidad Politécnica de Madrid, España.
Raimondi T. y Galbiati L. (1992). Manipulators Mascot IV used in Jet and propects of enhancement. EURATOM, editor, Teleoperation: Numerical Simulation and Experimental Validation. Editado por M.C. Becquet, 139–161.
Raju G. J., G. C. Verghese y T. B. Sheridan (1989). Design Issues in 2-Port Network Models of Bilateral Remote Teleoperation, Proceedings IEEE International Conference on Robotics and Automation, 1316-1321.
Rodríguez F. and M. J. López (1996). Control Adaptativo y Robusto. Universidad del Sevilla, España.
Romano, J.M.; Webster, R.J.; Okamura, A.M. (2007). Teleoperation of Steerable Needles. Robotics and Automation, 2007 IEEE International Conference on. 934 – 939.
Ryu J. H. and D. S. Kwon (2000). A Novel Adaptative Bilateral Control Scheme using Dual Closed-loop Dynamic Characteristics of Master/Slave Manipulators. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, 1173-1178.
Siciliano B., B. S. Yuan and W. J. Book (1986). Model Reference Adaptive Control of a One Link Flexible Arm. 25th IEEE Conference on Decision and Control.
Sheridan T. B (1989). Telerobotics. Automática, Vol. 25(4).
Slotine J-J. E. and W. Li (1987). Adaptive Strategies in Constrained Manipulation. Proceedings of the IEEE International Conference on Robotics and Automation, 595-601.
Slotine J-J. E. and W. Li (1988) Adaptive Manipulator Control: A Case Study. IEEE Transactions on Automatic Control, Vol.33(11), 995-1003.
Tavakoli, M.; Aziminejad, A.; Patel, R.V.; Moallem, M. (2008) Discrete-time bilateral teleoperation: modelling and stability analysis. Control Theory & Applications, IET. Vol. 2, (6), 496 - 512
Whitaker H. P., J. Yamron and A. Keser (1958). Design of Model Reference Adaptive Control Systems for Aircraft. Report R-164 Instrumentation Laboratory, M.I.T., Cambridge.
Yokokohji Y. and T. Yoshikawa (1992). Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling. Proceedings of the IEEE International Conference on Robotics and Automation, 849-858.
Zhu W. H and S. E. Salcudean (1999). Teleoperation with Adaptive Motion/Force Control. Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 231-237.
Descargas
Publicado
Cómo citar
Número
Sección
Licencia
Esta revista se publica bajo una Licencia Creative Commons Attribution-NonCommercial-CompartirIgual 4.0 International (CC BY-NC-SA 4.0)