A novel adaptive bilateral control scheme using dual closed-loop dynamic characteristics of master/slave manipulators
نویسندگان
چکیده
This article presents a novel adaptive bilateral control scheme for obtaining ideal responses for teleoperation systems with uncertainties. A condition that is equivalent to getting an ideal response in teleoperation has been found to be making the closed-loop dynamics of master and slave manipulators a similar form. An adaptive approach is applied to achieve similarity for the uncertain master and slave manipulators. Using the similar closed-loop dynamic characteristics of master slave teleoperation systems, excellent position and force tracking performance has been obtained without estimating the impedance of human and environment. The validity of the theoretical results is verified by experiments. 2001 John Wiley & Sons, Inc.
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