期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：1
DOI：10.1177/1729881416687127
语种：English
出版社：SAGE Publications
摘要：Bilateral teleoperation systems have attracted significant attention in the last decade mainly because of technological advancements in both the communication channel and computers performance. In addition, non-linear multi-degree-of-freedom bilateral teleoperators along with state observers have become an open research area. In this article, a model-free exact differentiator is used to estimate the full state along with a chattering-free second-order sliding mode controller to guarantee a robust impedance tracking under both constant and an unknown time delay of non-linear multi-degree-of-freedom robots. The robustness of the proposed controller is improved by introducing a change of coordinates in terms of a new nominal reference similar to that used in adaptive control theory. Experimental results that validate the predicted behaviour are presented and discussed using a Phantom Premium 1.0 as the master robot and a Catalyst-5 virtual model as the slave robot. The dynamics of the Catalyst-5 system is solved online.
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