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Real-time control of bilateral teleoperation system with adaptive computed torque method

Tayfun Abut (Department of Mechanical Engineering, Mus Alparslan University, Mus, Turkey)
Servet Soyguder (Department of Mechanical Engineering, Firat University, Elazig, Turkey)

Industrial Robot

ISSN: 0143-991x

Publication date: 15 May 2017

Abstract

Purpose

This paper aims to use the adaptive computed torque control (ACTC) method to eliminate the kinematic and dynamic uncertainties of master and slave robots and for the control of the system in the presence of forces originating from human and environment interaction.

Design/methodology/approach

In case of uncertainties in the robot parameters that are utilized in teleoperation studies and when the environment where interactions take place is not known and when there is a time delay, very serious problems take place in system performance. An adaptation rule was created to update uncertain parameters. In addition to this, disturbance observer was designed for slave robot. Lyapunov function was used to analyze the system’s position tracking and stability. A visual interface was designed to ensure that the movements of the master robot provided a visual feedback to the user.

Findings

In this study, a visual interface was created, and position and velocity control was achieved utilizing teleoperation; the system’s position tracking and stability were analyzed using the Lyapunov method; a simulation was applied in a real-time environment, and the performance results were analyzed.

Originality/value

This study consisted of both simulation and real-time studies. The teleoperation system, which was created in a laboratory environment, consisted of six-degree-of-freedom (DOF) master robots, six-DOF industrial robots and six-DOF virtual robots.

Keywords

Citation

Abut, T. and Soyguder, S. (2017), "Real-time control of bilateral teleoperation system with adaptive computed torque method", Industrial Robot, Vol. 44 No. 3, pp. 299-311. https://doi.org/10.1108/IR-09-2016-0245

Publisher

:

Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited