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Teleoperation of multiple cooperative slave manipulators using graph-based non-singular terminal sliding-mode control
Author(s)
Date Issued
2017
Publisher
IEEE
ISBN
9781538637425
9781538637418
9781538637432
Citation
Shen, H., Pan, Y. J., & He, B. (2017). Teleoperation of multiple cooperative slave manipulators using graph-based non-singular terminal sliding-mode control. In IEEE (Ed.). The proceedings of 2017 IEEE international conference on robotics and biomimetics (ROBIO). 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, Macao (pp. 1430-1435). IEEE.
Type
Conference Paper
Abstract
In this paper, a new framework of nonlinear single-master-multiple-slave (SMMS) manipulator system is proposed for the cooperative tasks with interconnection time delays. This networked system allows a master manipulator to remotely control a manipulator that serves as the leader of a group of followers. The graph-based non-singular terminal sliding-mode (G-NTSM) method is used to design controllers for the bilateral teleoperative subsystem and leader-following cooperative subsystem. Tracking synchronization with time delays can be achieved while the leader is with time-varying velocity and only globally reachable in a directed graph. Simulation results of a team of two degree-of-freedom (DOF) manipulators show that the designed controllers can ensure the bounded tracking errors, and the resultant overall multi-manipulator system is stable.
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