Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis

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...

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Bibliographic Details
Main Authors: Naghmeh Garmsiri, Yuming Sun, Pooya Sekhavat, Cai Xia Yang, Nariman Sepehri
Format: Article
Language:English
Published: MDPI AG 2020-10-01
Series:Actuators
Subjects:
admittance control
sliding mode control
pneumatic actuator
stability analysis
Lyapunov exponents
Online Access:https://www.mdpi.com/2076-0825/9/4/103

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