Abstract
In a previous paper, a control law has been developed for passive bilateral teleoperator to achieve theoretically perfect coordination in the presence of arbitrary environment forcing, and to enable the teleoperator to behave like a passive rigid mechanical tool. In this paper, we develop an adaptive control law to relax the need for the precise knowledge of inertia parameters, and a robust control law to eliminate the need for expensive force sensors. In addition, a novel experiment, that mimics the dynamics of piano playing is used to evaluate the efficacies of the various controllers to provide kinesthetic coupling.
Original language | English (US) |
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Pages (from-to) | 4612-4618 |
Number of pages | 7 |
Journal | Proceedings of the American Control Conference |
Volume | 6 |
State | Published - 2001 |
Event | 2001 American Control Conference - Arlington, VA, United States Duration: Jun 25 2001 → Jun 27 2001 |