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

摘要

AbstractThis 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.Ovaj rad opisuje FPGA implementaciju algoritama upravljanja kliznim režimima za bilateralnu teleoperaciju, pri čemu je opisan problem haptičke teleoperacije. Prikazano istraživanje poboljšava dodirnu pouzdanost proširenjem upravljačkog propusnog pojasa. Za široki propusni pojas, potrebni su kratki upravljački periodi i brzo vrijeme uzorkovanja, što je postignuto primjenom FPGA sklopovlja. Prikazana metodologija za projektiranje FPGA sklopovlja koristi osnovne optimizacijske metode s ciljem postizanja potrebnih upravljačkih perioda i zahtijevane fizičke iskorištenosti sklopovlja. Specifikacije sklopovlja su provedene programskim jezikom visoke razine LabVIEW uz korištenje podataka s nepomičnim decimalnim zarezom. Stoga je moguće implementirati traženu logiku na FPGA sklopovlje u kratkom vremenu. Opisana bilateralna teleoperacija temeljena na FPGA slopovlju je testirana na eksperimentalnom postavu s nadređenim i podređenim čvorom.Key words: Bilateral teleoperationHapticsFPGASliding Mode ControlKljučne riječi: bilateralna teleoperacijahaptikaFPGAupravljanje kliznim režimima Additional informationNotes on contributorsMarko FrancMarko Franc received the B.S. in electrical engineering from the University of Maribor, Maribor, Slovenia, in 2009. In 2009 he joined Institute of Robotics, Faculty of Electrical and Computer Science, University of Maribor, where he is a PhD student. His research interests include motion control, haptics, and mechatronics.Aleš HaceAleš Hace received the B.S., M.S., and Ph.D. degrees in electrical engineering from the University of Maribor, Maribor, Slovenia, in 1994, 1998, and 2001, respectively. In 1994, he joined the Institute of Robotics, Faculty of Electrical and Computer Science, University of Maribor, where he has been holding the position of an Assistant Professor for Automation and Robotics since 2006. In 2010 he has been elected Associate Professor. In 1999, he was a Visiting Research Fellow at Loughborough University, Leicestershire, U.K. The main areas of his research are related to the areas of mechatronics, robotics, servodrives, and sliding-mode control. Dr. Hace was the recipient of the Bedjanic Slovenian National Research Award in 1998. He is IEEE Member of its Industrial Electronics Society, and member of national Automatic Control Society of Slovenia.