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A Teleoperation System of Flexible Manipulator Based on Sign-Switching Control

Published: 21 August 2024 Publication History

Abstract

With the development of robot technology, teleoperation robot has been widely used in telemedicine, nuclear industry, aerospace and other fields. Traditional teleoperation systems are mostly used in specific environments, resulting in limited stability and robustness. In this article, a teleoperation system based on sign-switching control is proposed for the unpredictability of environment. We propose a dynamic parameter identification method based on the spring-damp-mass model, which realizes the realistic reproduction of contact force. To improve the global stability, a sign-switching control method is proposed. According to the environmental parameters, we divide the system into three different modes and design the controller. Experiments have been carried out in different slave-end environments, and the results prove the effectiveness of the proposed teleoperation system.

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    RobCE '24: Proceedings of the 2024 4th International Conference on Robotics and Control Engineering
    June 2024
    186 pages
    ISBN:9798400716782
    DOI:10.1145/3674746
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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    Publication History

    Published: 21 August 2024

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    Author Tags

    1. Environmental dynamics parameters
    2. Flexible manipulator
    3. Sign-Switching Control
    4. Teleoperation system

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    • National Defense Basic Research Project
    • Nanjing Science and Technology Plan Project

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