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Force reflecting joystick control for applications to bilateral teleoperation in construction machinery
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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
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Official URL: http://dx.doi.org/10.1007/s12541-017-0038-z
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 |
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| Divisions: | Faculty of Science > 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: |
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| 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 | ||||||||
| Funder: | Ulsan Taehakkyo (Korea) |
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