Robust Controller for Pursuing Trajectory and Force Estimations of a Bilateral Tele-Operated Hydraulic Manipulator

In hazardous/emergency situations, public safety is of the utmost concern. areas where human access not possible or restricted due to hazardous a system robot that can be distantly controlled mandatory. There are many applications in which force cannot applied directly while using physical sensors. Therefore, this research, robust controller for pursuing trajectory and estimations deprived any signals sensors bilateral tele-operation hydraulic manipulator suggested handle these hazardous, emergency circumstances. A terminal sliding control with perturbation observer (TSMCSPO) considered as coupled leader follower system. The ultimate use (SPO) estimate reaction without Robust perfect position tracking attained mode (TSMC) addition manipulator. estimation leader–follower built upon approach. difference between forces (caused by remote environment) operating (applied operator) required involvement an impedance model. model implemented provide operators actual sense connects environment. camera used ensure workplace through visual feedback. experimental results showed was at