Real-time control of bilateral teleoperation system with adaptive computed torque method

• Published in: Industrial robot Vol. 44; no. 3; pp. 299 - 311
• Main Authors: Abut, Tayfun, Soyguder, Servet
• Format: Journal Article
• Language: English
• Published: Bedford Emerald Publishing Limited 15.05.2017; Emerald Group Publishing Limited
• Subjects: Adaptive control; Adaptive systems; Communication channels; Computation; Control algorithms; Control stability; Controllers; Degrees of freedom; Disturbance observers; Haptics; Industrial robots; Interface stability; Kinematics; Laboratories; Liapunov functions; Parameter uncertainty; Real time; Robot control; Robotics; Robots; Stability analysis; Teleoperators; Time lag; Torque; Tracking; Variables; Velocity; Teleoperation; Disturbance observer; Industrial robot; Adaptive computed torque control; Lyapunov function

Purpose This paper aims to use the adaptive computed torque control (ACTC) method to eliminate the kinematic and dynamic uncertainties of master and slave robots and for the control of the system in the presence of forces originating from human and environment interaction. Design/methodology/approac...