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.
Bilateral Teleoperation for Linear Force Sensorless 3D Robots
01.01.2011
14 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Bilateral Teleoperation for Linear Force Sensorless 3D Robots
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