It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is based on a cyclic switching algorithm. In the first phase of the cyclic algorithm, we estimate the environmental force acting on the slave robot and in the second phase a tracking controller ensures that the position of the slave robot is tracking the position of the master robot. A stability analysis of the overall closed-loop system is presented and the approach is illustrated by means of an example.
|Title of host publication||Informatics in control, automation and robotics : revised and selected Papers from the international conference on Informatics in Control, Automation and Robotics 2010|
|Editors||J. Andrade Cetto, J. Ferrier, J. Filipe|
|Number of pages||978|
|Publication status||Published - 2011|
|Name||Lecture Notes in Electrical Engineering|