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[081] Citation: Abstract
In this paper, sliding mode non-linear control is applied to force
reflecting teleoperation. Various forms of the sliding mode control law
are derived for force feedback master manipulator with an arbitrary
factor for force and position scaling. Experiments were performed on a
one axis test system and frequency domain hybrid 2-port matrices are
measured and compared between the sliding mode controller and a
classical position error based feedback controller. Time domain
experiments are also performed. The model based portion of the sliding
mode controller was shown to be responsible for most of its performance
improvement, but the non-linear `sliding' component was essential for
steady state position accuracy.
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Updated: Tue Jul 15 23:54:48 2008
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