Adaptive transparent impedance reflecting teleoperation

Author

Hashtrudi-Zaad, K. ; Salcudean, S.E.

Author_Institution

Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada

Volume

2

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1369

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) “composite adaptive control” schemes and the “impedance bilateral control” 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

Keywords

adaptive control; delays; man-machine systems; position control; stability; telerobotics; time-varying systems; composite adaptive control; impedance bilateral control; indirect adaptive bilateral control; master-slave systems; position control; robustness; teleoperation; time delay; time varying systems; transparency; Accelerometers; Adaptive control; Force control; Force measurement; Impedance; Master-slave; Numerical simulation; Programmable control; Robust control; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506897

Filename

506897