Passive Control of Bilateral Teleoperated Manipulators: Robust Control and Experiments
نویسنده
چکیده
In a previous paper, a control Iaw has been developed fix 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 far 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 e5cacies of the various controllers to provide kinesthetic coupling.
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