Trương, Đình Quang, Truong, Bui Ngoc Minh, Trung, Nguyen Thanh, Nahian, Syed Abu and Ahn, Kyoung Kwan (2017) Force reflecting joystick control for applications to bilateral teleoperation in construction machinery. International Journal of Precision Engineering and Manufacturing, 18 (3). pp. 301-315. doi:10.1007/s12541-017-0038-z ISSN 2234-7593.

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Abstract

This paper presents a simple and effective force reflecting joystick controller for applications to bilateral teleoperation in construction machinery. First, this controller is a combination of an advanced force reflecting gain tuner and two local adaptive controllers, master and slave. Second, the force reflecting gain tuner is effectively designed using recursive least square method and fuzzy logics to estimate directly and accurately the environmental characteristics and, consequently, to produce properly a force reflection. Third, the local adaptive controllers are simply designed using fuzzy technique and optimized using a smart leaning mechanism to ensure that the slave follows well any given trajectory while the operator is able to achieve truly physical perception of interactions at the remote site. An experimental master-slave manipulator is setup and real-time control tests are carried out under various environmental conditions to evaluate the effectiveness of the proposed controller.

Item Type:	Journal Article
Subjects:	T Technology > TH Building construction T Technology > TJ Mechanical engineering and machinery
Divisions:	Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group)
Library of Congress Subject Headings (LCSH):	Robotics , Remote control, Construction equipment
Journal or Publication Title:	International Journal of Precision Engineering and Manufacturing
Publisher:	Springer
ISSN:	2234-7593
Official Date:	March 2017
Dates:	Date Event March 2017 Published 9 March 2017 Available 31 October 2016 Accepted
Volume:	18
Number:	3
Page Range:	pp. 301-315
DOI:	10.1007/s12541-017-0038-z
Status:	Peer Reviewed
Publication Status:	Published
Access rights to Published version:	Restricted or Subscription Access
Date of first compliant deposit:	20 March 2017
Date of first compliant Open Access:	9 March 2018
Funder:	Ulsan Taehakkyo (Korea)

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