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Nonlinear bilateral teleoperation using extended active observer for force estimation and disturbance suppression

Published online by Cambridge University Press:  29 January 2014

Linping Chan ,
Fazel Naghdy ,
David Stirling  and
Matthew Field
Linping Chan*
Affiliation:
School of Electrical, Computer & Telecommunications Engineering, University of Wollongong, Wollongong, NSW 2522, Australia
Fazel Naghdy
Affiliation:
School of Electrical, Computer & Telecommunications Engineering, University of Wollongong, Wollongong, NSW 2522, Australia
David Stirling
Affiliation:
School of Electrical, Computer & Telecommunications Engineering, University of Wollongong, Wollongong, NSW 2522, Australia
Matthew Field
Affiliation:
School of Electrical, Computer & Telecommunications Engineering, University of Wollongong, Wollongong, NSW 2522, Australia
*
*Corresponding author. E-mail: lc842@uowmail.edu.au
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Summary

A novel nonlinear teleoperation algorithm for simultaneous inertial parameters and force estimation at the master and slave sides of the teleoperation system is proposed. The scheme, called Extended Active Observer (EAOB), is an extension of the existing active observer. It provides effective force tracking at the master side with accurate position tracking at the slave side in the presence of inertial parameter variation and measurement noise. The proposed method only requires the measurement of robot position, and as a result significantly reduces the difficulty and cost of implementing bilateral teleoperation systems. The approach is described and its stability is analytically verified. The performance of the method is validated through computer simulation and compared with the Nicosia observer-based controller. According to the results, EAOB outperforms the Nicosia observer method and effectively rejects noise.

Keywords

TeleoperationAdaptive controlExtended active observerForce estimationDisturbance rejection

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 1 , January 2015 , pp. 61 - 86
Copyright
Copyright © Cambridge University Press 2014 

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