Development of a hybrid control for a pneumatic teleoperation system using on/off solenoid valves
Résumé
This paper presents a new predictive hybrid control law for a pneumatic teleoperation system using solenoid valves. Based on a predictive model of the mass flow rate of the valves, this method is used within a four-channel (4CH) bilateral control architecture for haptic teleoperation. An analysis of the controller parameters is carried out in order to achieve acceptable performances. The results show that a good accuracy in position and force tracking of the teleoperation system is obtained.
Mots clés
mass flow rate
haptic teleoperation
Pneumatic actuators
predictive hybrid control
pneumatic teleoperation system
on/off solenoid valves
predictive control
solenoids
telerobotics
valves
bilateral control architecture
hybrid control development
manipulators
pneumatic systems
on/off solenoid valve
teleoperation
hybrid control
bilateral control
transparency