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Tele-Operated Bilateral Control of Hydraulic Manipulator Using a Robust Controller Based on the Sensorless Estimated Reaction Force

School of Mechanical Engineering, Pusan National University, Busandaehak-ro 63 beon-gil, Jangjeon- dong Geumjeong-gu, Busan 46241, Korea
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Appl. Sci. 2019, 9(10), 1995; https://doi.org/10.3390/app9101995
Received: 29 March 2019 / Revised: 9 May 2019 / Accepted: 9 May 2019 / Published: 15 May 2019
(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)
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Abstract

In nuclear power plants (NPP), dismantling is the most technically involved process during their life time. During the dismantling process, public safety must be ensured. In crisis situations, a remotely controlled robot system is needed for the dismantling of NPP. Therefore, in this research, a bilateral tele-operation system is proposed to tackle these emergency conditions. Transparency can be improved by using force and position signal in the control strategy. In some applications, force cannot be determine directly using physical sensors. In this work, a novel tele-operated bilateral control strategy is proposed to estimate the reaction force of 3-degree-of-freedom (DOF) master and hydraulic slave manipulators without the use of a sensor. The control strategy is developed by using sliding mode control with sliding perturbation observer (SMCSPO). The sliding perturbation observer (SPO) estimates the reaction force at the end effector and second link without using sensors. The sliding mode control (SMC) is used as a tele-operated bilateral controller for the robust position tracking and control of the slave device. The impedance model is used to differentiate between the applied force (force exerted by operator) and the reaction force due to the remote environment. Different experiments were performed to verify the proposed strategy. The results indicate that the slave manipulator exactly follows the trajectory of the master device. A camera is used to take visual feedback of the workspace for safety purpose. This technique can also be applied for higher-order DOF manipulators in NPP.
Keywords: SMCSPO; hydraulic manipulator; tele-operation; bilateral control; master-slave; estimated reaction force; position tracking; visual feedback SMCSPO; hydraulic manipulator; tele-operation; bilateral control; master-slave; estimated reaction force; position tracking; visual feedback
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Kallu, K.D.; Abbasi, S.J.; Khan, H.; Wang, J.; Lee, M.C. Tele-Operated Bilateral Control of Hydraulic Manipulator Using a Robust Controller Based on the Sensorless Estimated Reaction Force. Appl. Sci. 2019, 9, 1995.

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