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| HAL: hal-00597445, version 1 |
| DOI: 10.1109/ICRA.2011.5979610 |
| Detailed view |  Export this paper |
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| ICRA, Shanghai : Chine (2011) |
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| Sliding Mode Control of a Pneumatic Haptic Teleoperation System with On/off Solenoid Valves |
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Minh-Quyen Le 1Minh Tu Pham 1 |
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| 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. |
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| 1: | Ampère |
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CNRS : UMR5005 – Université Claude Bernard - Lyon I – Institut National des Sciences Appliquées (INSA) - Lyon – Ecole Centrale de Lyon |
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| 2: | Telerobotic and Biorobotic Systems Group |
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University of Alberta |
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| Subject | : | Engineering Sciences/Automatic |
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| Teleoperation – Haptics and Haptic Interfaces – Hydraulic/Pneumatic Actuators |
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| hal-00597445, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00597445 | |
| oai:hal.archives-ouvertes.fr:hal-00597445 | |
| From: Publications Ampère | |
| Submitted on: Tuesday, 31 May 2011 21:33:19 | |
| Updated on: Thursday, 27 October 2011 18:47:58 | |
