Stability guaranteed teleoperation: an adaptive motion/force control approach

• Published in: IEEE transactions on automatic control Vol. 45; no. 11; pp. 1951 - 1969
• Main Authors: Wen-Hong Zhu, Salcudean, S.E.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2000; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive control systems; Control systems; Force control; Humans; Impedance; Master-slave; Mathematical models; Motion control; Nonlinear dynamics; Operators; Programmable control; Rigid-body dynamics; Robots; Stability; Tracking; Weight control

An adaptive motion/force controller is developed for unilateral or bilateral teleoperation systems. The method can be applied in both position and rate control modes, with arbitrary motion or force scaling. No acceleration measurements are required. Nonlinear rigid-body dynamics of the master and th...