Sensor-Less Bilateral Teleoperation System Based on Non Linear Inverse Modelling with Signal Prediction
In the paper a sensor-less control scheme for a bilateral teleoperation system with a force-feedback based on a prediction of an input and an output of a non-linear inverse model by prediction blocks was presented. As a part of the paper a method of a time constant estimation of the prediction block was also presented. The prediction method of an input and an output of an inverse model was designed to minimize the effect of the transport delay and the phase shift of sensors, actuators and mechanical objects. The solution is an alternative to complex non-linear models like artificial neural networks, which requires complex stability analysis and control systems with a high computing power. The effectiveness of the method has been verified on the hydraulic manipulator test stand.
KeywordsForce-feedback Teleoperation Non linear inverse modeling Delay
The work was carried out as part of the PBS3/A6/28/2015 project, “The use of augmented reality, interactive voice systems and operator interface to control a crane”, financed by NCBiR.
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