BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS

被引：0

作者：

Lichiardopol, Stefan ^{[1
]}

van de Wouw, Nathan ^{[1
]}

Nijmeijer, Henk ^{[1
]}

机构：

[1] Eindhoven Univ Technol, Dept Mech Engn, POB 513, NL-5600 MB Eindhoven, Netherlands

来源：

ICINCO 2010: PROCEEDINGS OF THE 7TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2 | 2010年

关键词：

Bilateral teleoperation; Force sensor-less robotic setups; DISTURBANCE-OBSERVER; MANIPULATORS; FORMULATION; STABILITY; DESIGN; FUSION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 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.

引用

页码：39 / 46

页数：8

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