Fink, Nándor (2019) Model reference adaptive control for telemanipulation. Hungarian Journal of Industry and Chemistry, 47 (1). pp. 41-48. ISSN 0133-0276
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Abstract
A 1-DOF (degree-of-freedom) telemanipulation system is presented in this paper. The paper focuses on disturbance compensation of the haptic force feedback. The master and slave devices are connected via serial ports. The mechanism, which is applied as a human interface device, is subject to perceptible internal friction that must be eliminated. As a result, the operator would only feel the force feedback from the manipulated environment. The main contribution of this paper is the presentation of the telemanipulation device with a model reference adaptive control that compensates for the friction force using a direct model-based sliding mode algorithm.
| Item Type: | Article |
|---|---|
| Subjects: | Q Science / természettudomány > QA Mathematics / matematika Q Science / természettudomány > QA Mathematics / matematika > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány |
| Depositing User: | Dóra Bélafi-Zihár |
| Date Deposited: | 11 Jun 2020 11:16 |
| Last Modified: | 11 Jun 2020 11:16 |
| URI: | http://real.mtak.hu/id/eprint/109589 |
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