Información del artículo
En este artículo se presenta el diseño y aplicación de un método de control adaptativo para un sistema bilateral de teleoperación. El esquema y algoritmo de control se ha formulado en el espacio de estados siguiendo una técnica de control por convergencia del estado de maestro y esclavo. Sobre dicho esquema de control se han ajustado a través del método de control adaptativo las ganancias de las matrices de los reguladores para obtener un sistema bilateral estable con una reflexión de fuerzas establecida a priori, lo que es de utilidad en aplicaciones industriales en las que el operador manipula cardas de gran variabilidad. La validación del método de control diseñado se ha realizado con un sistema experimental maestro-esclavo de un grado de libertad, pero los resultados también son aplicables con varios grados de libertad.
Palabras Clave:
Control Adaptativo
Convergencia de Estados
Modelado
Teleoperación
Bilateral
El Texto completo está disponible en PDF
Referencias
[Anderson and Spong., 1989]
R.J. Anderson, M.W. Spong.
Bilateral Control of Teleoperators with Time Delay.
IEEE Transactions on Automatic Control, Vol. 34 (1989), pp. 494-501
[Aracil et al., 2002]
R. Aracil, M. Ferre, M. Hernando, E. Pinto, J.M. Sebastian.
Telerobotic system for live-power line maintenance: ROBTET.
Control Engineering Practice, Vol. 10 (2002), pp. 1271-1281
[Aström and Wittenmark., 1995]
K.J. Aström, B. Wittenmark.
Adaptative Control.
Addison-Wesley Publishing Company, (1995),
[Azorin, 2003]
J.M. Azorin.
Control Bilateral por Convergencia de Estado de Sistemas Teleoperados con Retardos en la Transmisión.
Universidad Miguel Hernández, España, (2003),
[Canudas de Wit et al., 1997]
Canudas de Wit, C. Siciliano B., and Bastin G. Theory of Robot Control. Springer (1997) ISBN 3-540-76054-7.
[Craig, 1988]
J.J. Craig.
Adaptive Control of Mechanical Manipulators.
Second Edition, Addison-Wesley Publishing Company, (1988),
[Feliu et al., 1989]
V. Feliu, K.S. Rattan, H.B. Brown.
Adaptive Control of a Single-Link Flexible Manipulator. The Presence Of Joint Friction And Load Changes.
Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1036-1041
[Ghorbel et al., 1989]
F. Ghorbel, J.Y. Hung, M.W. Spong.
Adaptive Control of Flexible-Joint Manipulators.
Control Systems Magazine, IEEE, Vol. 9 (1989), pp. 9-13
[Goertz, 1964]
R. Goertz.
Manipulators Systems Development at ANL.
Proceedings 12th Conference on Remote Systems Technology,
[Guthart and Salisbury, 2000]
G.S. Guthart, J.K. Salisbury.
The intuitive telesurgery system: Overview, application.
Proceedings IEEE Int. Conf, pp. 618-621
[Hannaford, 1989]
B. Hannaford.
Stability and Performance Tradeoffs in Bilateral Telemanipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1764-1967
[Hashtrudi-Zaad and Salcudean., 1996]
K. Hashtrudi-Zaad, S.E. Salcudean.
Adaptive Transparent Impedance Reflecting Teleoperation.
Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1369-1374
[Hosseini-Sunny et al., 2005]
K. Hosseini-Sunny, H. Momeni, F. Janabi-Sharifi.
Adaptive Teleoperation Systems Design.
Proceedings of the IEEE Conference on Control Applications, pp. 334-339
[Kaneko et al., 1998]
K. Kaneko, H. Tokashiki, K. Tanie, K. Komoriya.
IEEE/RSJ International Conference, (1998),
[Khalil, 1992]
H.K. Khalil.
Nonlinear Systems.
Macmillan, (1992),
[Keller et al., 1998]
U. Keller, K. Müller, N. Hickey, D. Ready, R. Leitch.
Extending the Gradient Method to Qualitative Model Reference Adaptive Control.
UKACC International Conference on Control, (1998),
[Kelly and Carelli., 1988]
R. Kelly, R. Carelli.
Unified approach to adaptive control of robotic manipulators.
Proceedings of the IEEE Conference on Decision and Control,
[Landau, 1979]
Y.D. Landau.
Adaptative control-The Model Reference-Approach.
Mardel Dekker, Inc, (1979),
[Lawrence, 1992]
D.A. Lawrence.
Designing Teleoperator Architectures for Transparency.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, pp. 1406-1411
[Lee et al., 1997]
H.K. Lee, M.H. Shin, M.J. Chung.
Adaptive Controller of Master-Slave for Transparent Teleoperation.
ICAR, (1997), pp. 1021-1026
[Niemeyer and Slotine., 1991]
G. Niemeyer, J.J.E. Slotine.
Stable Adaptive Teleoperation.
IEEE Journal of Oceanic Engineering, Vol. 6 (1991), pp. 152-162
[Peñin, 1998]
L.F. Peñin.
Control Bilateral de Robots Teleoperados. Contribuciones a la Reflexión de Fuerzas.
Universidad Politécnica de Madrid, España, (1998),
[Raimondi and Galbiati, 1992]
Raimondi T. y Galbiati L. (1992). Manipulators Mascot IV used in Jet and propects of enhancement. EURATOM, editor, Teleoperation: Numerical Simulation and Experimental Validation. Editado por M.C. Becquet, 139-161.
[Raju et al., 1989]
G.J. Raju, G.C. Verghese, T.B. Sheridan.
Design Issues in 2-Port Network Models of Bilateral Remote Teleoperation.
Proceedings IEEE International Conference on Robotics and Automation, pp. 1316-1321
[Rodríguez and López., 1996]
F. Rodríguez, M.J. López.
Control Adaptativo y Robusto.
Universidad del Sevilla, España, (1996),
[Romano et al., 2007]
Romano, J.M.; Webster, R.J.; Okamura, A.M. (2007). Teleoperation of Steerable Needles. Robotics and Automation, 2007 IEEE International Conference on. 934–939.
[Ryu and Kwon., 2000]
J.H. Ryu, D.S. Kwon.
A Novel Adaptative Bilateral Control Scheme using Dual Closed-loop Dynamic Characteristics of Master/Slave Manipulators.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1173-1178
[Siciliano et al., 1986]
B. Siciliano, B.S. Yuan, Book S W.J..
Model Reference Adaptive Control of a One Link Flexible Arm.
25th IEEE Conference on Decision and Control, (1986),
[Sheridan, 1989]
T.B. Sheridan.
Telerobotics.
Automática, Vol. 25 (1989),
[Slotine and J- Li., 1987]
J-J.E. Slotine, W. Li.
Adaptive Strategies in Constrained Manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, pp. 595-601
[Slotine and J- Li., 1988]
J-J.E. Slotine, W. Li.
Adaptive Manipulator Control: A Case Study.
IEEE Transactions on Automatic Control, Vol.33 (1988), pp. 995-1003
[Tavakoli et al., 2008]
M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem.
Discrete-time bilateral teleoperation: modelling and stability analysis.
Control Theory & Applications, IET, Vol. 2 (2008), pp. 496-512
[Whitaker et al., 1958]
Whitaker H. P., J. Yamron and A. Keser. (1958). Design of Model Reference Adaptive Control Systems for Aircraft. Report R-164 Instrumentation Laboratory, M.I.T., Cambridge.
[Yokokohji and Yoshikawa., 1992]
Y. Yokokohji, T. Yoshikawa.
Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling.
Proceedings of the IEEE International Conference on Robotics and Automation, pp. 849-858
[Zhu and Salcudean., 1999]
W.H. Zhu, S.E. Salcudean.
Teleoperation with Adaptive Motion/Force Control.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, pp. 231-237
Copyright © 2010. Elsevier España, S.L.. Todos los derechos reservados