Abstract
Bilateral teleoperation denotes a very attractive topic among researchers during the last years, since it may significantly help humans to extend their capability to perform distant operation in inaccessible environment. Despite this, yet it has not been fully investigated. In order to provide haptic teleoperation various aspects during design has to be considered, whereas the control approach may be most significant. This chapter presents robust control algorithm for scaled bilateral teleoperation obtained by Sliding Mode Control based design. The utilization of Field Programmable Gate Array within the teleoperator control system may present a sufficient implementation platform, since it provides high computational power that allows high control rate. This property was already recognized as a necessity for haptic teleoperation. In the chapter, some key aspects that lead toward haptic-based teleoperation are presented.
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Operation part financed by the European Union, European Social Fund.
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Hace, A., Franc, M. (2014). FPGA-Based Haptic Teleoperation. In: Pisla, D., Bleuler, H., Rodic, A., Vaida, C., Pisla, A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 16. Springer, Cham. https://doi.org/10.1007/978-3-319-01592-7_11
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DOI: https://doi.org/10.1007/978-3-319-01592-7_11
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