@inbook{52a57e5eda40462b9422185f77c0a5fd,
title = "Bilateral teleoperation for linear force sensorless 3D robots",
abstract = "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.",
author = "S. Lichiardopol and {Wouw, van de}, N. and H. Nijmeijer",
year = "2011",
doi = "10.1007/978-3-642-19539-6_13",
language = "English",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer",
pages = "197--210",
editor = "{Andrade Cetto}, J. and J. Ferrier and J. Filipe",
booktitle = "Informatics in control, automation and robotics : revised and selected Papers from the international conference on Informatics in Control, Automation and Robotics 2010",
address = "Germany",
}