سال انتشار: ۱۳۸۵

محل انتشار: چهاردهمین کنفرانس مهندسی برق ایران

تعداد صفحات: ۶

نویسنده(ها):

M. Sha Sadeghi – Tarbiat Modarres University
H.R Momeni – Tarbiat Modarres University
S. Ganjehfar – Bu ali sina University

چکیده:

Time delay reduces significantly ability of teleoperation. To overcome the trouble, a novel adaptive inverse controller is proposed. Moreover, force feedback is provided to ensure that the system is robust, asymptotically stable and transparent. Special strategy has been peresented to determine the reference model for adapting the slave-side controller and accordingly, drift in position tracking has been compensated.