Sliding Mode Control of a Pneumatic Haptic Teleoperation System with On/off Solenoid Valves

Minh-Quyen Le (1) , Minh Tu Pham (1) , Mahdi Tavakoli (2) , Richard Moreau (1)

1 AMPERE - Ampère
2 Telerobotic and Biorobotic Systems Group

This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low cost solenoid valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is experimentally verified on a single-degree-of-freedom pneumatic teleoperation system actuated by on/off valves. Moreover, experiment results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.

Mots clés: Teleoperation; Haptics and Haptic Interfaces; Hydraulic/Pneumatic Actuators

Domaines: Automatique / Robotique

Minh-Quyen Le, Minh Tu Pham, Mahdi Tavakoli, Richard Moreau. Sliding Mode Control of a Pneumatic Haptic Teleoperation System with On/off Solenoid Valves. ICRA, May 2011, Shanghai, China. pp.874-879, ⟨10.1109/ICRA.2011.5979610⟩. ⟨hal-00597445⟩