Adaptive force reflecting teleoperation with local force compensators

This paper addresses problems to achieve transparency and contact stability for teleoperation that consists of unconstrained and constrained motions. The adaptive bilateral control with a local force compensator is developed, based on adaptive impedance control and contact force driven compensation with auto-switching functions. Without any knowledge about robotic and environment dynamics and with a communication delay, the developed method guarantees good adaptive tracking performance in unconstrained motion and reduction of oscillating contacts in constrained motion. Based on an actual haptic device and a virtual manipulator, haptic simulations are presented to demonstrate adaptive transparency and contact stability in the presence of communication delay.