Bilateral Control System of the Space Robot with Large Delays

seifedine kadry

Abstract


This paper is an extension of work originally presented in 15th International Conference
on Stability and Oscillations of Nonlinear Control Systems [1]. The article
describes a method for bilateral control of a space robot with large delays. The peculiarity
of this method lies in the special structure of the control algorithm. Bilateral
control implies force feedback necessary for the interaction of a space robot with objects
that have holonomic connections. The paper presents mathematical models of
the elements of the bilateral control system and their computer implementation using
specific examples.


Keywords


bilateral control; remote control; force feedback; nonlinear control systems; space robots

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DOI: http://dx.doi.org/10.12928/telkomnika.v19i6.18837

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