Four-channel Control of Master-slave Robotic System with User’s Force Transfer during Obstacle Collision at the Remote Site based on Input-to-state Stability
The possibility of transferring the sense and force of the user on the driver side to the follower robot has always been discussed in master/slave systems. It has gained special importance in recent research. In the present study, the control torque of the slave side is adjusted by transferring the...
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University of Isfahan
2024-09-01
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| Series: | هوش محاسباتی در مهندسی برق |
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| Online Access: | https://isee.ui.ac.ir/article_28810_6f3d5d890057c5fce72e74731a8bec34.pdf |
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| author | Mohammad Reza Satvati Hossein Karimpour Keivan Torabi Mohammad Motaharifar |
| author_facet | Mohammad Reza Satvati Hossein Karimpour Keivan Torabi Mohammad Motaharifar |
| author_sort | Mohammad Reza Satvati |
| collection | DOAJ |
| description | The possibility of transferring the sense and force of the user on the driver side to the follower robot has always been discussed in master/slave systems. It has gained special importance in recent research. In the present study, the control torque of the slave side is adjusted by transferring the user's force (with the haptic handle) from the master side to the slave robot. The proposed system is a four-channel approach where the position signal and force signal are transmitted to the slave on the master's side, and reciprocally, the position signal and the contact force of the environment on the slave reach the master's side. The input-to-state stability for the master-slave system is investigated with the proposed approach. The approach of this research, unlike the approach of many previous studies, does not require the acceleration of the joints to parameterize the robot's dynamics or control it. In this method, the amount of force/torque of the user's hand of the master robot will be directly involved in the control command of the slave robot. In this article, in addition to the four-channel system, a three-channel system is proposed. Both systems, in addition to following the path, can follow the user's will on the master's side when encountering unexpected obstacles and stopping joints. In addition to software simulation, experimental implementation has been done on a leader-follower system with haptic robots, which confirms the correctness of the proposed approach. |
| format | Article |
| id | doaj-art-c81c0f4a167c461c89e21d32b728ef18 |
| institution | Kabale University |
| issn | 2821-0689 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | University of Isfahan |
| record_format | Article |
| series | هوش محاسباتی در مهندسی برق |
| spelling | doaj-art-c81c0f4a167c461c89e21d32b728ef182025-01-26T07:58:37ZengUniversity of Isfahanهوش محاسباتی در مهندسی برق2821-06892024-09-01153154210.22108/isee.2024.138312.163728810Four-channel Control of Master-slave Robotic System with User’s Force Transfer during Obstacle Collision at the Remote Site based on Input-to-state StabilityMohammad Reza Satvati0Hossein Karimpour1Keivan Torabi2Mohammad Motaharifar3Phd Student, Mechanical Eng. Department, Faculty of Engineering, University of Isfahan, Isfahan, IranAssistant Professor, Mechanical Eng. Department, Faculty of Engineering, University of Isfahan, Isfahan, IranAssociate Professor, Mechanical Eng. Department, Faculty of Engineering, University of Isfahan, Isfahan, IranAssistant Professor, Mechanical Eng. Department, Faculty of Engineering, University of Isfahan, Isfahan, IranThe possibility of transferring the sense and force of the user on the driver side to the follower robot has always been discussed in master/slave systems. It has gained special importance in recent research. In the present study, the control torque of the slave side is adjusted by transferring the user's force (with the haptic handle) from the master side to the slave robot. The proposed system is a four-channel approach where the position signal and force signal are transmitted to the slave on the master's side, and reciprocally, the position signal and the contact force of the environment on the slave reach the master's side. The input-to-state stability for the master-slave system is investigated with the proposed approach. The approach of this research, unlike the approach of many previous studies, does not require the acceleration of the joints to parameterize the robot's dynamics or control it. In this method, the amount of force/torque of the user's hand of the master robot will be directly involved in the control command of the slave robot. In this article, in addition to the four-channel system, a three-channel system is proposed. Both systems, in addition to following the path, can follow the user's will on the master's side when encountering unexpected obstacles and stopping joints. In addition to software simulation, experimental implementation has been done on a leader-follower system with haptic robots, which confirms the correctness of the proposed approach.https://isee.ui.ac.ir/article_28810_6f3d5d890057c5fce72e74731a8bec34.pdfforce transmissioninput-to-state stabilitymaster-slavefour-channel systemtele-operation |
| spellingShingle | Mohammad Reza Satvati Hossein Karimpour Keivan Torabi Mohammad Motaharifar Four-channel Control of Master-slave Robotic System with User’s Force Transfer during Obstacle Collision at the Remote Site based on Input-to-state Stability هوش محاسباتی در مهندسی برق force transmission input-to-state stability master-slave four-channel system tele-operation |
| title | Four-channel Control of Master-slave Robotic System with User’s Force Transfer during Obstacle Collision at the Remote Site based on Input-to-state Stability |
| title_full | Four-channel Control of Master-slave Robotic System with User’s Force Transfer during Obstacle Collision at the Remote Site based on Input-to-state Stability |
| title_fullStr | Four-channel Control of Master-slave Robotic System with User’s Force Transfer during Obstacle Collision at the Remote Site based on Input-to-state Stability |
| title_full_unstemmed | Four-channel Control of Master-slave Robotic System with User’s Force Transfer during Obstacle Collision at the Remote Site based on Input-to-state Stability |
| title_short | Four-channel Control of Master-slave Robotic System with User’s Force Transfer during Obstacle Collision at the Remote Site based on Input-to-state Stability |
| title_sort | four channel control of master slave robotic system with user s force transfer during obstacle collision at the remote site based on input to state stability |
| topic | force transmission input-to-state stability master-slave four-channel system tele-operation |
| url | https://isee.ui.ac.ir/article_28810_6f3d5d890057c5fce72e74731a8bec34.pdf |
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