Pseudo-Sensorless High-Performance Bilateral Teleoperation by Sliding-Mode Control and FPGA

摘要: This paper proposes a pseudo-sensorless implementation of scaled bilateral teleoperation. It is based on Hall effect sensors that are built within the motor housing. The proposed requires no external sensor can deteriorate system dynamics and performance. integrated have been used both for position measurement force estimation necessary in high-performance Nevertheless, perturbation may always appear practical mechatronic system. Therefore, chattering-free sliding-mode control algorithm applied ensures robustness toward disturbances, yet easy to implement. data acquisition algorithms as well implemented by field-programmable gate array (FPGA) order provide high rate further increase required haptic fidelity along with FGPA were validated 2-DoF experimental has shown FPGA provides teleoperation