Fuzzy logic-based variable impedance control for a bilateral teleoperation system under time delay
Journal: Journal of Computational Applied Mechanics (Vol.55, No. 3)Publication Date: 2024-07-01
Authors : Maryam Raeisi Sarkhooni; Behnam Yazdankhoo; Mohammad Reza Hairi Yazdi; Farshid Najafi;
Page : 500-518
Keywords : teleoperation; Time delay; variable impedance control; absolute stability; Fuzzy logic;
Abstract
In a delayed master-slave teleoperation system, if the slave robot interacts with a delicate and sensitive environment, it is essential to control the slave-environment interactions. Variable impedance control has been proposed as a useful method for this aim in the literature. However, changing the impedance parameters based on the system requirements imposes a complex process in the controller design. To address this issue, we propose a variable impedance control strategy for the slave side, where the impedance variables are changed using fuzzy logic. This is carried out based on the environment destruction threshold—defined based on the contact force and the velocity of the slave robot—and system stability range. The proposed method is simulated in MATLAB’s Simulink considering telesurgery conditions and soft tissue environment under an unknown and varying time delay. Simulation results show that the proposed method maintains the velocity of the slave robot and the environment force in the desired interval and performs better in keeping the environment safe compared to the constant-coefficient impedance control.
Other Latest Articles
- Vibration Analysis of Sandwich Plates with Hybrid Composite Cores Combining Porous Polymer and Foam Structures
- Spectral Method For Modeling The Dispersion Of Complex Guided Wave Modes In Anisotropic Pipeline
- Machine Learning Insights into the Influence of Carbon Nanotube Dimensions on Nanocomposite Properties: A Comprehensive Exploration
- From Data to Stability: A Novel Approach for Controlling Unknown Linear Time-Invariant Systems with Performance Enhancement
- Free Vibration of a Tapered Beam by the Aboodh Transform-based Variational Iteration Method
Last modified: 2024-06-28 18:50:05