Adaptive force reflecting teleoperation with local force compensators

Yushing Cheung, Jae H. Chung, Daehie Hong

    Research output: Contribution to journalArticlepeer-review

    4 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Pages (from-to)433-444
    Number of pages12
    JournalRobotica
    Volume25
    Issue number4
    DOIs
    Publication statusPublished - 2007 Jul

    Keywords

    • Auto-switching capacity
    • Error recovery
    • Teleoperation

    ASJC Scopus subject areas

    • Software
    • Mechanical Engineering
    • Control and Optimization
    • Artificial Intelligence
    • Rehabilitation
    • Control and Systems Engineering
    • Computer Vision and Pattern Recognition
    • Computer Science Applications
    • Computational Mechanics
    • General Mathematics
    • Modelling and Simulation

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