Adaptive force reflecting teleoperation with local force compensators

Yushing Cheung, Jae H. Chung, Daehie Hong

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper addresses problems to achieve transparency and contact stability for teleoperation that consists of unconstrained and constrained motions. The adaptive bilateral control with a local force compensator is developed, based on adaptive impedance control and contact force driven compensation with auto-switching functions. Without any knowledge about robotic and environment dynamics and with a communication delay, the developed method guarantees good adaptive tracking performance in unconstrained motion and reduction of oscillating contacts in constrained motion. Based on an actual haptic device and a virtual manipulator, haptic simulations are presented to demonstrate adaptive transparency and contact stability in the presence of communication delay.

Original languageEnglish
Pages (from-to)433-444
Number of pages12
JournalRobotica
Volume25
Issue number4
DOIs
Publication statusPublished - 2007 Jul

Keywords

  • Auto-switching capacity
  • Error recovery
  • Teleoperation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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