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)|
|Number of pages||7|
|Journal||Proceedings of the American Control Conference|
|State||Published - 2001|
|Event||2001 American Control Conference - Arlington, VA, United States|
Duration: Jun 25 2001 → Jun 27 2001