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Data-driven impedance matching in multilateral teleoperation systems

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

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Abstract

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.

Item Type: Article
Additional Information: Indexed by Scopus
Uncontrolled Keywords: Multi-agents; Impedance matching; Bilateral teleoperation; Laguerre function; FRIT; Least-square method
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 29 Aug 2018 02:02
Last Modified: 29 Aug 2018 02:17
URI: http://umpir.ump.edu.my/id/eprint/21077
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