Passive tool dynamics rendering for nonlinear bilateral teleoperated manipulators

Dongjun Lee, Perry Y Li

Research output: Contribution to journalConference articlepeer-review

16 Scopus citations

Abstract

In the companion paper [1], a control law renders a 2n-degree of freedom (DOF) nonlinear teleoperator (consisting of n-DOF master and slave robots) as a n-DOF common passive mechanical tool which has the usual robotic dynamics. In this paper, we develop a control methodology to endow the resulting n-DOF common passive mechanical tool with useful passive tool dynamics which incorporates inertia scaling, guidance/avoidance system while preserving energetic passivity of the closed-loop system. A fictitious energy storage is used to scale the apparent inertia of the teleoperator. The passive velocity field control [2] for a velocity field tracking and artificial potential function are utilized for guidance/avoidance system. Thus, with the control law proposed in [1], the control law renders the 2n-DOF teleoperator as a n-DOF common passive mechanical tool which has programmable apparent inertia and moves under the effects of velocity/potential field tailored to task objectives and obstacles in the workspace.

Original languageEnglish (US)
Pages (from-to)3284-3289
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - 2002
Event2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

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