Bilateral teleoperation for linear force sensorless 3D robots

S. Lichiardopol, N. Wouw, van de, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceedingChapterAcademic

3 Citations (Scopus)
3 Downloads (Pure)

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.
Original languageEnglish
Title of host publicationInformatics in control, automation and robotics : revised and selected Papers from the international conference on Informatics in Control, Automation and Robotics 2010
EditorsJ. Andrade Cetto, J. Ferrier, J. Filipe
PublisherSpringer
Pages197-210
Number of pages978
DOIs
Publication statusPublished - 2011

Publication series

NameLecture Notes in Electrical Engineering
Volume89
ISSN (Print)1876-1100

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