Adaptive transparent impedance reflecting teleoperation

TitleAdaptive transparent impedance reflecting teleoperation
Publication TypeConference Paper
Year of Publication1996
AuthorsHashtrudi-Zaad, K., and S. E. Salcudean
Conference NameRobotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Pagination1369 -1374 vol.2
Date Publishedapr.
Keywordsadaptive 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

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


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