In the companion paper , 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  for a velocity field tracking and artificial potential function are utilized for guidance/avoidance system. Thus, with the control law proposed in , 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 language||English (US)|
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|State||Published - Jan 1 2002|
|Event||2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States|
Duration: May 11 2002 → May 15 2002