Teleoperation with Adaptive Motion/Force Control

In this paper, an adaptive motion force control based approach is proposed to control bilateral teleoperation systems under both position and rate control with arbitrary motion force scaling. The master and the slave are treated separately, and are subject to independent adaptive motion force control. A model of the human operator is incorporated into the dynamics of the master robot, while a model of the environment is incorporated into the dynamics of the slave robot. L2 and L1 stability is guaranteed for both position velocity tracking between the master slave robots. The overall teleoperation system is equivalent to a free- oating mass plus a linear damper speci ed by the control and scaling parameters only. This approach possesses three features compared to previous teleoperation approaches: a it is L2 and L1 stability guaranteed with motion force tracking capability, b it can handle parameter uncertainties by applying independent parameter adaptation, and c it takes into account...

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Wen-Hong Zhu, S. E. Salcudean
• Keywords: Adaptive Motion Force, ICRA 1999, Motion Force, Motion Force Control, Robotics