Passive control of bilateral teleoperated manipulators: Robust control and experiments

D. Lee, P. Y. Li

Research output: Contribution to journalConference article

11 Scopus citations

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 languageEnglish (US)
Pages (from-to)4612-4618
Number of pages7
JournalProceedings of the American Control Conference
Volume6
StatePublished - Jan 1 2001
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001

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