A bilateral teleoperation with interaction force constraint in unknown environment using non linear model predictive control

In critical scenarios, the interaction forces between a robot and environment could lead to damages dangerous situations. Complex tasks like grasping fragile objects or physical human-robot in collaborative robotics require capability of controlling forces. bilateral teleoperation, force feedback is used provide telepresence operator. such situation, commonly measured by force/torque sensor at end effector remote robot. Even if allows operator feel with this does not prevent unsafe motion. paper, we propose model predictive control (MPC) based teleoperation able guarantee safe constraining The method assume any prior knowledge environment.