Coordination Control for Haptic and Teleoperator Systems

In this paper, two controllers are developed for nonlinear haptic and teleoperator systems for coordination of the master and slave systems. The first controller is proven to yield a semi-global asymptotic result in the presence of parametric uncertainty in the master and the slave dynamic models provided the user and the environmental input forces are measurable. The second controller yields a global asymptotic result despite unmeasurable user and environmental input forces provided the dynamic models of the master and slave are known. These controllers rely on a transformation and a flexible target system to allow the master system´s impedance to be easily adjusted so that it matches a desired target system. This work also offers a structure to encode a velocity field assist mechanism to provide the user help in controlling the slave system in completing a pre-defined contour following task. For each controller, Lyapunov-based techniques are used to prove that both controllers provide passive coordination of the haptic/teleoperator system when the velocity field assist mechanism is disabled. When the velocity field assist mechanism is enabled, the analysis proves the coordination of the haptic/teleoperator system