BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS

Stefan Lichiardopol, Nathan van de Wouw, Henk Nijmeijer

2010

Abstract

It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is based on a cyclic switching algorithm. In the first phase of the cyclic algorithm, we estimate the environmental force and in the second phase a tracking controller ensures that the position of the slave robot is tracking the position of the master robot. A stability analysis of the overall closed-loop system is presented and the approach is illustrated by means of an example.

References

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Paper Citation


in Harvard Style

Lichiardopol S., van de Wouw N. and Nijmeijer H. (2010). BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 39-46. DOI: 10.5220/0002934400390046


in Bibtex Style

@conference{icinco10,
author={Stefan Lichiardopol and Nathan van de Wouw and Henk Nijmeijer},
title={BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={39-46},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002934400390046},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS
SN - 978-989-8425-01-0
AU - Lichiardopol S.
AU - van de Wouw N.
AU - Nijmeijer H.
PY - 2010
SP - 39
EP - 46
DO - 10.5220/0002934400390046