Title | Adaptive transparent impedance reflecting teleoperation |
Publication Type | Conference Paper |
Year of Publication | 1996 |
Authors | Hashtrudi-Zaad, K., and S. E. Salcudean |
Conference Name | Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on |
Pagination | 1369 -1374 vol.2 |
Date Published | apr. |
Keywords | adaptive control, composite adaptive control, delays, impedance bilateral control, indirect adaptive bilateral control, man-machine systems, master-slave systems, position control, robustness, stability, teleoperation, telerobotics, time delay, time varying systems, time-varying systems, transparency |
Abstract | To achieve transparency for teleoperation in unknown or time varying environments a class of indirect adaptive bilateral control schemes is developed based on the Slotine-Li (1989) ldquo;composite adaptive control rdquo; schemes and the ldquo;impedance bilateral control rdquo; architecture presented by Hannaford (1989). The proposed controllers need master and slave position, velocity and acceleration measurements and require no force sensing. Numerical simulations are worked out to demonstrate the transparency and robustness of the controllers to time delay |
URL | http://dx.doi.org/10.1109/ROBOT.1996.506897 |
DOI | 10.1109/ROBOT.1996.506897 |