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2019 (English)In: IEEE Transactions on Cybernetics, ISSN 2168-2267, E-ISSN 2168-2275, Vol. 49, no 8, p. 2845-2859Article in journal (Refereed) Published
Abstract [en]
This paper develops an innovative multilateral teleoperation system with two haptic devices in the master side and a newly-designed reconfigurable multi-fingered robot hand in the slave side. A novel non-singular fast terminal sliding mode (NFTSM) algorithm together with varying dominance factors for cooperation is proposed to offer this system fast position and force tracking, as well as an integrate perception for the operator on the robot hand. Type-2 fuzzy model is used to describe the overall system dynamics, and accordingly a new fuzzy-model-based state observer is proposed to compensate for the system uncertainties. A sliding mode adaptive controller is designed to deal with the varying zero drift of the force sensors and force observers. The stability of the closed-loop system under time-varying delays is proved using Lyapunov-Krasovskii functions. Finally, experiments to grasp different objects are performed to verify the effectiveness of this multilateral teleoperation system.
Place, publisher, year, edition, pages
IEEE, 2019
Keywords
Multifingered robot multilateral teleoperation, sliding-mode control (SMC), type-2 Takagi–Sugeno (T–S) fuzzy logic
National Category
Robotics
Research subject
Automatic Control
Identifiers
urn:nbn:se:oru:diva-66702 (URN)10.1109/TCYB.2018.2828503 (DOI)000467561700003 ()30072352 (PubMedID)2-s2.0-85050992654 (Scopus ID)
Note
Funding Agencies:
Office of Naval Research Global
ONRG-NICOP-N62909-15-1-2029 NUSRI China Jiangsu Provincial BK20150386 BE2016077
Singapore NMRC Bedside and Bench Grant R-397-000-245-511
2018-04-232018-04-232019-06-19Bibliographically approved