Teleoperation with Adaptive Motion/Force Control

In this paper, an adaptive motion/force control based approach is proposed to control bilateral teleoperation systems under both position and rate control with arbitrary motion/force scaling. The master and the slave are treated separately, and are subject to independent adaptive motion/force control. A model of the human operator is incorporated into the dynamics of the master robot, while a model of the environment is incorporated into the dynamics of the slave robot. L2 and L1 stability is guaranteed for both position/velocity tracking between the master/slave robots. The overall teleoperation system is equivalent to a freeoating mass plus a linear damper speci ed by the control and scaling parameters only. This approach possesses three features compared to previous teleoperation approaches: a) it is L2 and L1 stability guaranteed with motion/force tracking capability, b) it can handle parameter uncertainties by applying independent parameter adaptation, and c) it takes into account the full nonlinear dynamics of the master/slave robots. The validity of the theoretical results are veri ed by experiments.