Data-driven impedance matching in multilateral teleoperation systems

This paper addresses a tuning approach to improve transparency between master and slave manipulators in a multilateral teleoperation system. The slave manipulators comprised of multi-agents of simple mass are converted into a bilateral system through the passive decomposition technique. There are tw...

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Main Authors:	Mohd Syakirin, Ramli, Hamzah, Ahmad
Format:	Article
Language:	English
Published:	Institute of Advanced Engineering and Science 2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/21077/ http://umpir.ump.edu.my/id/eprint/21077/ http://umpir.ump.edu.my/id/eprint/21077/ http://umpir.ump.edu.my/id/eprint/21077/1/Data-driven%20impedance%20matching%20in%20multilateral%20teleoperation%20systems.pdf

id	ump-21077
recordtype	eprints
spelling	ump-210772018-08-29T02:17:53Z http://umpir.ump.edu.my/id/eprint/21077/ Data-driven impedance matching in multilateral teleoperation systems Mohd Syakirin, Ramli Hamzah, Ahmad TK Electrical engineering. Electronics Nuclear engineering This paper addresses a tuning approach to improve transparency between master and slave manipulators in a multilateral teleoperation system. The slave manipulators comprised of multi-agents of simple mass are converted into a bilateral system through the passive decomposition technique. There are two main operations being considered, namely; grasping and handling. The object grasping is achieved through consensus control. For handling, an equalizer constructed by a Laguerre function connected in-feedback-loop to the master manipulator is chosen and tuned to achieve impedance matching between both sides of teleoperation. Fictitious Reference Iterative Tuning (FRIT) is adopted to properly tune the selected equalizer. The result shows that by introducing an optimally tuned equalizer, the overall impedance matching and transparency between the single master and multi-slave manipulators are improved. Finally, the effectiveness of the proposed tuning algorithm is presented through a numerical example. Institute of Advanced Engineering and Science 2018-05 Article PeerReviewed pdf en cc_by_nc_4 http://umpir.ump.edu.my/id/eprint/21077/1/Data-driven%20impedance%20matching%20in%20multilateral%20teleoperation%20systems.pdf Mohd Syakirin, Ramli and Hamzah, Ahmad (2018) Data-driven impedance matching in multilateral teleoperation systems. Indonesian Journal of Electrical Engineering and Computer Science, 10 (2). pp. 713-124. ISSN 2502-4752 http://www.iaescore.com/journals/index.php/IJEECS/article/view/11847 10.11591/ijeecs.v10.i2
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Mohd Syakirin, Ramli Hamzah, Ahmad Data-driven impedance matching in multilateral teleoperation systems
description	This paper addresses a tuning approach to improve transparency between master and slave manipulators in a multilateral teleoperation system. The slave manipulators comprised of multi-agents of simple mass are converted into a bilateral system through the passive decomposition technique. There are two main operations being considered, namely; grasping and handling. The object grasping is achieved through consensus control. For handling, an equalizer constructed by a Laguerre function connected in-feedback-loop to the master manipulator is chosen and tuned to achieve impedance matching between both sides of teleoperation. Fictitious Reference Iterative Tuning (FRIT) is adopted to properly tune the selected equalizer. The result shows that by introducing an optimally tuned equalizer, the overall impedance matching and transparency between the single master and multi-slave manipulators are improved. Finally, the effectiveness of the proposed tuning algorithm is presented through a numerical example.
format	Article
author	Mohd Syakirin, Ramli Hamzah, Ahmad
author_facet	Mohd Syakirin, Ramli Hamzah, Ahmad
author_sort	Mohd Syakirin, Ramli
title	Data-driven impedance matching in multilateral teleoperation systems
title_short	Data-driven impedance matching in multilateral teleoperation systems
title_full	Data-driven impedance matching in multilateral teleoperation systems
title_fullStr	Data-driven impedance matching in multilateral teleoperation systems
title_full_unstemmed	Data-driven impedance matching in multilateral teleoperation systems
title_sort	data-driven impedance matching in multilateral teleoperation systems
publisher	Institute of Advanced Engineering and Science
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/21077/ http://umpir.ump.edu.my/id/eprint/21077/ http://umpir.ump.edu.my/id/eprint/21077/ http://umpir.ump.edu.my/id/eprint/21077/1/Data-driven%20impedance%20matching%20in%20multilateral%20teleoperation%20systems.pdf
first_indexed	2023-09-18T22:30:47Z
last_indexed	2023-09-18T22:30:47Z
_version_	1777416271332114432

Data-driven impedance matching in multilateral teleoperation systems

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