TY - GEN
T1 - Control of bilateral teleoperation system for robotic manipulators with uncertain kinematics and dynamics
AU - Liu, Yen Chen
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/7
Y1 - 2014/10/7
N2 - The control problem for task-space bilateral teleoperation system with uncertain kinematics and dynamics is studied in this paper. We first demonstrate that based on the proposed controller and adaptive laws, the teleoperation system is stable and the position tracking in the task space is guaranteed when robots are in free motion or subject to passive force. Furthermore, if the human and environmental forces are bounded and square integrable, then all signals of the teleoperation system are bounded and the task-space tracking errors converge to zero asymptotically. The force reflection of the addressed bilateral teleoperation and the issue of communication delays are also studied in this paper. Numerical simulations are presented to validate the performance of the developed control algorithms.
AB - The control problem for task-space bilateral teleoperation system with uncertain kinematics and dynamics is studied in this paper. We first demonstrate that based on the proposed controller and adaptive laws, the teleoperation system is stable and the position tracking in the task space is guaranteed when robots are in free motion or subject to passive force. Furthermore, if the human and environmental forces are bounded and square integrable, then all signals of the teleoperation system are bounded and the task-space tracking errors converge to zero asymptotically. The force reflection of the addressed bilateral teleoperation and the issue of communication delays are also studied in this paper. Numerical simulations are presented to validate the performance of the developed control algorithms.
UR - http://www.scopus.com/inward/record.url?scp=84910618931&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84910618931&partnerID=8YFLogxK
U2 - 10.1109/CYBER.2014.6917518
DO - 10.1109/CYBER.2014.6917518
M3 - Conference contribution
AN - SCOPUS:84910618931
T3 - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
SP - 521
EP - 526
BT - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
Y2 - 4 June 2014 through 7 June 2014
ER -