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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
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-0334-2554
Örebro University, School of Science and Technology.
Department of Biomedical Engineering, National University of Singapore, Singapore.
Department of Biomedical Engineering, National University of Singapore, Singapore.
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2018 (English)In: IEEE Transactions on Cybernetics, ISSN 2168-2267, E-ISSN 2168-2275Article in journal (Refereed) Accepted
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, 2018.
Keyword [en]
Multilateral teleoperation, Multi-fingered robot hand, Sliding mode control, Type-2 T-S Fuzzy Logic
National Category
Robotics
Research subject
Automatic Control
Identifiers
URN: urn:nbn:se:oru:diva-66702OAI: oai:DiVA.org:oru-66702DiVA, id: diva2:1199966
Available from: 2018-04-23 Created: 2018-04-23 Last updated: 2018-06-11Bibliographically approved

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Sun, DaLiao, Qianfang

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