A Novel Adaptive Bilateral Control Scheme using Dual Closed-loop Dynamic Characteristics of Master/Slave Manipulators

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This paper presents a novel adaptive bilateral control scheme for obtaining transparency for teleoperation systems that has uncertainties. It has been found that a condition that is equivalent to getting an ideal response in teleoperation is to making the closed-loop dynamics of master and slave manipulators dual. An adaptive approach is applied to achieve the duality for the uncertain master and slave manipulators. Due to the dual closed-loop dynamic characteristics of master/slave teleoperation systems, excellent position and force tracking performance can be obtained without concerning the impedance variation of human and environment. The validity of the theoretical results is verified by experiments with a 1-DOF master/slave system.
Publisher
IEEE
Issue Date
2001-09
Language
English
Citation

JOURNAL OF ROBOTIC SYSTEMS, v.18, no.9, pp.533 - 543

ISSN
0741-2223
URI
http://hdl.handle.net/10203/82594
Appears in Collection
CE-Journal Papers(저널논문)ME-Journal Papers(저널논문)
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