| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 721852 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
In this paper, an experimental study of two control strategies for teleoperation is performed on a simple one degree-of-freedom (dof) mechanism made of two parallel arms. First, the so-called position-position scheme is implemented using controllers with an integrating action in order to achieve zero steady-state position error in contact free movement and the shortcomings of this approach are exhibited. Next they are overcome thanks to a force-position control scheme involving a controller switching mechanism so that the integrating action is only active in contact free motion. The so-called conditioning technique is used to avoid windup in the proposed control architecture (a multi-controller cascade scheme).
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Aline De Greef, Thomas Delwiche, Laurent Catoire, Michel Kinnaert,