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Signal Prediction in Bilateral Teleoperation with Force-Feedback

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Dynamical Systems in Applications (DSTA 2017)

Part of the book series: Springer Proceedings in Mathematics & Statistics ((PROMS,volume 249))

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Abstract

In the paper a sensor-less and self-sensing control scheme for a bilateral teleoperation system with force-feedback based on a prediction of an input 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 proposed. The prediction method of an input 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 NARX or artificial neural networks, which requires complex stability analysis, and control systems with high computing powers. The effectiveness of the method has been verified on the hydraulic manipulator’s test stand.

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Acknowledgements

The work was carried out as part of PBS3/A6/28/2015 project, “The use of augmented reality, interactive voice systems and operator interface to control a crane”, financed by the NCBiR.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering and Mechatronics, West Pomeranian University of Technology, Szczecin, 19 Piastów Avenue, 70-310, Szczecin, Poland

    Mateusz Saków, Krzysztof Marchelek, Arkadiusz Parus, Mirosław Pajor & Karol Miądlicki

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  1. Mateusz Saków
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  2. Krzysztof Marchelek
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  3. Arkadiusz Parus
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  4. Mirosław Pajor
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  5. Karol Miądlicki
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Corresponding author

Correspondence to Mateusz Saków .

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Editors and Affiliations

  1. Dept. of Autom., Biomech. and Mechatr., Łódź University of Technology Dept. of Autom., Biomech. and Mechatr., Lodz, Poland

    Jan Awrejcewicz

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Saków, M., Marchelek, K., Parus, A., Pajor, M., Miądlicki, K. (2018). Signal Prediction in Bilateral Teleoperation with Force-Feedback. In: Awrejcewicz, J. (eds) Dynamical Systems in Applications. DSTA 2017. Springer Proceedings in Mathematics & Statistics, vol 249. Springer, Cham. https://doi.org/10.1007/978-3-319-96601-4_28

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