具有振动模式的触觉系统滑模控制设计

Q3 Physics and Astronomy

Cybernetics and Physics Pub Date : 2020-12-30 DOI:10.35470/2226-4116-2020-9-4-187-191

N. Kumar, J. Ohri

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引用次数: 0

摘要

触觉是一项前沿技术，在移动、家庭、机器人和远程操作等领域有着广泛的应用。它在使用带有触觉反馈的机械臂进行远程手术方面有很大的应用空间。它将生物医学、神经学、物理学和工程学等多种学科融合在一个平台上。它对所有领域都有广泛的适用范围。为此，触觉机械臂应该能够以最小的干扰来模拟期望的轨迹。在实时情况下，机器人触觉臂具有各种不确定性、振动和其他未建模参数，这些参数会对输出产生不利影响。本文对一种存在内部振动模式的触觉装置进行了建模。本文提出了一种鲁棒非线性滑模控制方法。通过仿真实验验证了所设计控制器的有效性。实验结果表明，采用该方法，系统能准确地沿预定轨迹运动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Sliding mode control design for haptic system with vibration mode

Haptic is cutting edge technology having vast application mobile, home, robotics and tele-operations etc. It has enormous scope for tele-surgery using robotic arm with haptic feedback. It brings various dicsipline such as biomedical, neurological, physics and engineering on a single platform. It have numerious scope for all field.For this, haptic robotic arm should able to emulate the desired trajectory with minimum disturbances. In the real time, a robotic haptic arm have various uncertainty, vibrations and other unmodelled parameters which impact the output adversely. In this paper, a haptic device has been modelled in presence of internal vibration mode. A robust nonlinear sliding mode control (SMC) has been proposed in this paper. The efficacy of designed controller has been verified using simulation experiment. It has been observed that using the proposed method system follows desired trajectory accurately.

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来源期刊

Cybernetics and Physics Chemical Engineering-Fluid Flow and Transfer Processes

CiteScore

1.70

自引率

0.00%

发文量

审稿时长

10 weeks

期刊介绍： The scope of the journal includes: -Nonlinear dynamics and control -Complexity and self-organization -Control of oscillations -Control of chaos and bifurcations -Control in thermodynamics -Control of flows and turbulence -Information Physics -Cyber-physical systems -Modeling and identification of physical systems -Quantum information and control -Analysis and control of complex networks -Synchronization of systems and networks -Control of mechanical and micromechanical systems -Dynamics and control of plasma, beams, lasers, nanostructures -Applications of cybernetic methods in chemistry, biology, other natural sciences The papers in cybernetics with physical flavor as well as the papers in physics with cybernetic flavor are welcome. Cybernetics is assumed to include, in addition to control, such areas as estimation, filtering, optimization, identification, information theory, pattern recognition and other related areas.