Teleoperation of pneumatic actuators: design, experimental evaluation, and stability analysis
Loading...
Date
2014, 2015, 2017
Authors
Garmsiri, Naghmeh
Journal Title
Journal ISSN
Volume Title
Publisher
International Journal of Automation and Soft Computing
International Journal of Fluid Power
Journal of Control and Intelligent Systems
International Journal of Fluid Power
Journal of Control and Intelligent Systems
Abstract
Pneumatic systems are inexpensive, safe and require low maintenance. Because of the actuation material, air, they are potential candidates for dealing with external force. Teleoperation of pneumatic actuators can be very beneficial in applications in which the remote actuator needs to interact with the external force, e.g. telerehabilitation.
This thesis focuses on the teleoperation of a low-cost solenoid-driven pneumatic actuator. Firstly, a novel intelligent position controller is applied and experimented with on the pneumatic actuator and is later compared to two other controllers. The best among the three is chosen for the rest of the thesis. A unilateral pneumatic teleoperation system employing an electrically-actuated joystick is successfully developed and evaluated using impedance and admittance control schemes for dealing with the external force. Stability analysis is assured for autonomous and non-autonomous systems using the concept of Lyapunov Exponents (LEs). The concept of LEs allows the stability analysis of an available system, and as a result, it does not impose any limitations on the system parameters. In addition, it can show the effect of changing a certain parameter on the stability. Using this concept, the effect of changing a few parameters on stability is studied. The performances of admittance and impedance unilateral systems are then compared in terms of positioning accuracy, energy dissipation and fast response to the external force. It is shown that admittance unilateral teleoperation offers higher positioning accuracy and damping characteristics and reacts faster to the external force.
For the first time, a bilateral teleoperation system is applied to a solenoid valve-driven pneumatic actuator using an electrically-actuated haptic device. Unlike the last two methods, the slave robot does not deal with the external force independently. Instead, this force is rendered on a haptic device and felt by the operator. By changing the admittance of the hand, the operator indirectly deals with the external force. Experimental verification shows the effectiveness of the developed bilateral teleoperation system.
Description
Keywords
Pneumatic Actuator, Bilateral, Unilateral, Impedance Control, Admittance Control, Sliding Mode Control, Stability Analysis, Lyapunov Exponents.
Citation
N. Garmsiri and N. Sepehri, "Emotional learning based position control of pneumatic actuators," International Journal of Automation and Soft Computing, vol. 20, no. 3, pp. 433-450, 2014.
N. Garmsiri, Y. Sun and N. Sepehri, "Impedance control of a teleoperated pneumatic actuator: Implementation and stability analysis," Journal of Control and Intelligent Systems, 2017 (In Press).
N. Garmsiri, Y. Sun, C. Yang and N. Sepehri, "Bilateral teleoperation of a pneumatic actuator: experiment and stability analysis," International Journal of Fluid Power, vol. 16, no. 2, pp. 99-110, 2015.
N. Garmsiri, Y. Sun and N. Sepehri, "Impedance control of a teleoperated pneumatic actuator: Implementation and stability analysis," Journal of Control and Intelligent Systems, 2017 (In Press).
N. Garmsiri, Y. Sun, C. Yang and N. Sepehri, "Bilateral teleoperation of a pneumatic actuator: experiment and stability analysis," International Journal of Fluid Power, vol. 16, no. 2, pp. 99-110, 2015.