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.
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Lichiardopol, S., van de Wouw, N., Nijmeijer, H. (2011). Bilateral Teleoperation for Linear Force Sensorless 3D Robots. In: Cetto, J.A., Ferrier, JL., Filipe, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 89. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19539-6_13
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DOI: https://doi.org/10.1007/978-3-642-19539-6_13
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