Passive control of bilateral teleoperated manipulators

Author

Li, Perry Y.

Author_Institution

Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA

Volume

6

fYear

1998

fDate

21-26 Jun 1998

Firstpage

3838

Abstract

The control of a bilateral teleoperated manipulator system is considered. The goals of the control are to (i) coordinate the motions of the two manipulators according to a predefined kinematic scaling, (ii) render the dynamics of a locked system, and its response to forces from the human operator and environment to approximate that of predefined natural dynamics, (iii) to provide for possible scaling of power. In addition, for safety reasons, the closed loop system need to remain passive. For linear dynamically similar systems, dynamics of the system can be block diagonalized into two decoupled mechanical systems: the shape system that deals with the coordination error, and the locked system that describe the average motion of the two manipulators. The passive velocity field control methodology is then applied to the shape system to regulate the coordination error at 0 and at the same time preserves the passivity of the overall system

Keywords

closed loop systems; manipulator dynamics; manipulator kinematics; telerobotics; velocity control; bilateral teleoperated manipulators; closed loop system; coordination error; decoupled mechanical systems; human operator; kinematic scaling; linear dynamically similar systems; locked system; motions coordination; passive velocity field control methodology; predefined natural dynamics; shape system; Closed loop systems; Control systems; Force control; Humans; Kinematics; Manipulator dynamics; Mechanical systems; Motion control; Safety; Shape control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1998. Proceedings of the 1998

Conference_Location

Philadelphia, PA

ISSN

0743-1619

Print_ISBN

0-7803-4530-4

Type

conf

DOI

10.1109/ACC.1998.703365

Filename

703365