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ICRA
2002
IEEE

Passive Coordination Control of Nonlinear Bilateral Teleoperated Manipulators

9 years 5 months ago
Passive Coordination Control of Nonlinear Bilateral Teleoperated Manipulators
In this paper, a teleoperation controller is proposed for a pair of nonlinear master and slave manipulators. The control law enables the nonlinear robots to be perfectly coordinated despite arbitrary environment and human forcings, while ensuring that the closed loop teleoperator system is passive with respect to a supply rate that includes a user specified bilateral power scaling factor. After perfect coordination has been attained, the control law constrains n degrees of freedom (DOF). The dynamics of the remaining n degrees of freedom resembles those of a usual rigid robot. Thus, the teleoperator becomes a common rigid mechanical tool with which both the human operator and the physical environment interact. In a companion paper [1], a control methodology to endow the n-DOF common passive tool with useful tool dynamics is proposed.
Dongjun Lee, Perry Y. Li
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Dongjun Lee, Perry Y. Li
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