Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis

Actuators

Yuming Sun¹  CaiXia Yang²  Nariman Sepehri³  Naghmeh Garmsiri³  Pooya Sekhavat⁴ 

[1] Department of Mechanical Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, Canada;Department of Mechanical Engineering, University of North Dakota, Grand Forks, ND 58202-8359, USA;Fluid Power and Telerobotics Research Laboratory, University of Manitoba, Winnipeg, MB R3T 5V6, Canada;Microsat Systems Canada Inc., Mississauga, ON L4V 1P1, Canada;

关键词: admittance control;    sliding mode control;    pneumatic actuator;    stability analysis;    Lyapunov exponents;   

DOI  :  10.3390/act9040103

来源: DOAJ

【 摘 要 】

Implementation, experimental evaluation and stability analysis of an admittance-controlled teleoperated pneumatic system is presented. A master manipulator navigates a pneumatic slave actuation, which interacts with a human arm as an environment. Considering the external force in the position control loop in the admittance control, enables the slave to handle the external force independent of the master. The proposed control system is evaluated experimentally using the admittance models with different settings. Stability of the control system is analyzed using the concept of Lyapunov exponents. Parametric stability analysis is conducted to show the effect of changing system parameters on stability.

【 授权许可】

Unknown