Title :
A novel adaptive bilateral control scheme using dual closed-loop dynamic characteristics of master/slave manipulators
Author :
Ryu, J.H. ; Kwon, D.S.
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
fDate :
6/22/1905 12:00:00 AM
Abstract :
The paper presents a novel adaptive bilateral control scheme for obtaining transparency for teleoperation systems that has uncertainties. It has been found that a condition that is equivalent to getting an ideal response in teleoperation is to making the closed-loop dynamics of master and slave manipulators dual. An adaptive approach is applied to achieve the duality for the uncertain master and slave manipulators. Due to the dual closed-loop dynamic characteristics of master/slave teleoperation systems, excellent position and force tracking performance can be obtained without concerning the impedance variation of human and environment. The validity of the theoretical results is verified by experiments with a 1-DOF master/slave system
Keywords :
adaptive control; closed loop systems; computerised control; force feedback; human factors; manipulators; telerobotics; uncertain systems; user interfaces; 1-DOF master/slave system; adaptive approach; adaptive bilateral control scheme; closed-loop dynamics; dual closed-loop dynamic characteristics; duality; force tracking performance; ideal response; impedance variation; master/slave manipulators; master/slave teleoperation systems; slave manipulators; uncertain master; Adaptive control; Control systems; Force control; Force feedback; Impedance; Manipulator dynamics; Master-slave; Programmable control; Stability; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893178
