Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis
Implementation, experimental evaluation and stability analysis of an admittance-controlled teleoperated pneumatic system is presented. A master manipulator navigates a pneumatic slave actuation, which interacts with a human arm as an environment. Considering the external force in the position contro...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-10-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/9/4/103 |
| _version_ | 1797551021709328384 |
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| author | Naghmeh Garmsiri Yuming Sun Pooya Sekhavat Cai Xia Yang Nariman Sepehri |
| author_facet | Naghmeh Garmsiri Yuming Sun Pooya Sekhavat Cai Xia Yang Nariman Sepehri |
| author_sort | Naghmeh Garmsiri |
| collection | DOAJ |
| description | Implementation, experimental evaluation and stability analysis of an admittance-controlled teleoperated pneumatic system is presented. A master manipulator navigates a pneumatic slave actuation, which interacts with a human arm as an environment. Considering the external force in the position control loop in the admittance control, enables the slave to handle the external force independent of the master. The proposed control system is evaluated experimentally using the admittance models with different settings. Stability of the control system is analyzed using the concept of Lyapunov exponents. Parametric stability analysis is conducted to show the effect of changing system parameters on stability. |
| first_indexed | 2024-03-10T15:38:50Z |
| format | Article |
| id | doaj.art-bd0ddf7acab74c10a1c62680b1371830 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T15:38:50Z |
| publishDate | 2020-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-bd0ddf7acab74c10a1c62680b13718302023-11-20T17:01:36ZengMDPI AGActuators2076-08252020-10-019410310.3390/act9040103Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability AnalysisNaghmeh Garmsiri0Yuming Sun1Pooya Sekhavat2Cai Xia Yang3Nariman Sepehri4Fluid Power and Telerobotics Research Laboratory, University of Manitoba, Winnipeg, MB R3T 5V6, CanadaDepartment of Mechanical Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, CanadaMicrosat Systems Canada Inc., Mississauga, ON L4V 1P1, CanadaDepartment of Mechanical Engineering, University of North Dakota, Grand Forks, ND 58202-8359, USAFluid Power and Telerobotics Research Laboratory, University of Manitoba, Winnipeg, MB R3T 5V6, CanadaImplementation, experimental evaluation and stability analysis of an admittance-controlled teleoperated pneumatic system is presented. A master manipulator navigates a pneumatic slave actuation, which interacts with a human arm as an environment. Considering the external force in the position control loop in the admittance control, enables the slave to handle the external force independent of the master. The proposed control system is evaluated experimentally using the admittance models with different settings. Stability of the control system is analyzed using the concept of Lyapunov exponents. Parametric stability analysis is conducted to show the effect of changing system parameters on stability.https://www.mdpi.com/2076-0825/9/4/103admittance controlsliding mode controlpneumatic actuatorstability analysisLyapunov exponents |
| spellingShingle | Naghmeh Garmsiri Yuming Sun Pooya Sekhavat Cai Xia Yang Nariman Sepehri Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis Actuators admittance control sliding mode control pneumatic actuator stability analysis Lyapunov exponents |
| title | Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis |
| title_full | Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis |
| title_fullStr | Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis |
| title_full_unstemmed | Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis |
| title_short | Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis |
| title_sort | admittance controlled teleoperation of a pneumatic actuator implementation and stability analysis |
| topic | admittance control sliding mode control pneumatic actuator stability analysis Lyapunov exponents |
| url | https://www.mdpi.com/2076-0825/9/4/103 |
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