Development of a hybrid control for a pneumatic teleoperation system using 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 new predictive hybrid control law for a pneumatic teleoperation system using solenoid valves. Based on a predictive model of the mass flow rate of the valves, this method is used within a four-channel (4CH) bilateral control architecture for haptic teleoperation. An analysis of the controller parameters is carried out in order to achieve acceptable performances. The results show that a good accuracy in position and force tracking of the teleoperation system is obtained.

Mots clés: mass flow rate; haptic teleoperation; Pneumatic actuators; predictive hybrid control; pneumatic teleoperation system; on/off solenoid valves; predictive control; solenoids; telerobotics; valves; bilateral control architecture; hybrid control development; manipulators; pneumatic systems; on/off solenoid valve; teleoperation; hybrid control; bilateral control; transparency

Domaines: Energie électrique; Automatique / Robotique

Minh-Quyen Le, Minh Tu Pham, Mahdi Tavakoli, Richard Moreau. Development of a hybrid control for a pneumatic teleoperation system using on/off solenoid valves. 2010 IEEE IROS, Oct 2010, Taipei, Taiwan. pp.5818-5823, ⟨10.1109/IROS.2010.5650406⟩. ⟨hal-00579812⟩