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Multilateral Teleoperation With New Cooperative Structure Based on Reconfigurable Robots and Type-2 Fuzzy Logic
Department of Biomedical Engineering, National University of Singapore, Singapore.ORCID iD: 0000-0002-0334-2554
Department of Biomedical Engineering, National University of Singapore, Singapore.ORCID iD: 0000-0001-8119-0843
Department of Biomedical Engineering, National University of Singapore, Singapore; NUS (Suzhou) Research Institute (NUSRI), Suzhou, China.
Department of Biomedical Engineering, National University of Singapore, Singapore.
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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. Vol. 49, no 8, p. 2845-2859
Keywords [en]
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: urn:nbn:se:oru:diva-66702DOI: 10.1109/TCYB.2018.2828503ISI: 000467561700003PubMedID: 30072352Scopus ID: 2-s2.0-85050992654OAI: oai:DiVA.org:oru-66702DiVA, id: diva2:1199966
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 

Available from: 2018-04-23 Created: 2018-04-23 Last updated: 2019-06-19Bibliographically approved

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A Multilateral Teleoperation System: New Cooperative Structure based on Reconfigurable Robot Hand and Controller Design based on Type-2 Fuzzy Model(1501 kB)36 downloads
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Sun, DaLiao, Qianfang

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