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https://doi.org/10.7305/automatika.54-1.302

A Study on the FPGA Implementation of the Bilateral Control Algorithm Towards Haptic Teleoperation

Marko Franc ; ISOMAT d.o.o. Mežica, Slovenia
Aleš Hace orcid id orcid.org/0000-0003-4802-168X ; Institute of Robotics, Faculty of Electrical and Computer Science, University of Maribor Maribor, Slovenia


Puni tekst: engleski pdf 2.171 Kb

str. 49-61

preuzimanja: 1.019

citiraj


Sažetak

This paper presents the FPGA implementation of sliding mode control algorithm for bilateral teleoperation, such that, the problem of haptic teleoperation is addressed. The presented study improves haptic fidelity by widening the control bandwidth. For wide control bandwidth, short control periods as well as short sampling periods are required that was achieved by the FPGA. The presented FPGA design methodology applies basic optimization methods in order to meet the required control period as well as the required hardware resource consumption. The circuit specification was performed by the high-level programing language LabVIEW using the fixed-point data type. Hence, short design times for producing the FPGA logic circuit can be achieved. The proposed FPGA-based bilateral teleoperation was validated by master-slave experimental device.

Ključne riječi

Bilateral teleoperation; Haptics; FPGA; Sliding Mode Control

Hrčak ID:

100191

URI

https://hrcak.srce.hr/100191

Datum izdavanja:

4.4.2013.

Podaci na drugim jezicima: hrvatski

Posjeta: 1.776 *