Teleoperation by Using Nonisomorphic Mechanisms in the Master–Slave Configuration for Speed Control
作者： Amit Shukla , Hamad Karki , Laxmidhar Behera , Mo M. Jamshidi
DOI: 10.1109/JSYST.2016.2531749
关键词:
摘要: This paper presents modeling, simulation, and control of a novel teleoperated mechanism, where two nonisomorphic manipulators are used in one integrated system, with the purpose usage oil gas industry future. Overall integration system has been done master–slave configuration, stuart-type 6-DOF parallel manipulator is as master robot serial slave robot. Since closed-loop structure an open-loop structure, their work spaces completely different nature terms overall shape size. A task-space mapping mechanism proposed this to integrate these nonidentical manipulators. Damped least-squares (DLS) method for overcoming singularity matrix. also detailed dynamic modeling along comprehensive analysis technique. The biggest benefit using fullest access complete cartesian task both proposes lag compensator improved tracking performance. Multilevel architecture local actuator-space joint-space controllers, manipulators, respectively, presented work.
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