An adaptive controller for enhancing operator performance during teleoperation
نویسندگان
چکیده
An adaptive controller is developed for adjusting robot arm parameters while manipulating payload_of-unknown moss and inertia. The controller is tested experimentally in a masterlslave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptution is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified.
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