Open AccessThe Effect of Parameters Variation on Bilateral Controller
Author(s) -
Sari Abdo Ali,
Muhammad Fahmi Miskon,
Ahmad Zaki Shukor,
Marwan Qaid Mhoammed
Publication year - 2018
Publication title -
international journal of power electronics and drive systems (ijpeds)
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.322
H-Index - 21
ISSN - 2088-8694
DOI - 10.11591/ijpeds.v9.i2.pp648-659
Subject(s) - control theory (sociology) , teleoperation , controller (irrigation) , torque , computer science , control system , pid controller , robot , control engineering , engineering , control (management) , physics , artificial intelligence , temperature control , electrical engineering , agronomy , biology , thermodynamics
This paper analyzes the effects of the bilateral control parameters variation on the stability, the transparency and the accuracy, and on the operational force that is applied to DC motor and the master system. The bilateral controller is designed for rehabilitation process. PD controller is used to control the position tracking and a force gain controller is used to control the motor torque. DOB eliminate the internal disturbance and RTOB to estimate the joint torque without using sensors. The system consists of two manipulators, each manipulator has 1dof, master and slave teleoperation system, 4 control-architecture channel, DOB and reaction force observer. The master system is attached to human oberator. The slave system is attached to external load. The aim in this paper is to design the controller so that it requires less force to move the master manipulator and at the same time achieve high performance in position tracking.