Robust Haptic Teleoperation by FPGA

This paper describes a robust algorithm for haptic-based teleoperation. The robust control algorithm was derived by sliding mode control design approach. Such control assures robustness to the disturbances and model uncertainties. Furthermore, the presented design approach guaranties chattering-free performance. Moreover, it is also easy to implement, since the detailed knowledge of the model is not required. The control has been implemented by FPGA in order to realize high control rate which is strongly required for haptic teleoperation. The control algorithm was validated by the 2-DoF laboratory haptic experimental system with linear motors with built-in Hall sensors; therefore no external sensor is required. The experiments validated the proposed control algorithm regarding the robustness and haptic performance.