Passivity-based teleoperation system for robots with parametric uncertainty and communication delay

Yen Chen Liu, Mun Hooi Khong

Research output: Contribution to journalConference articlepeer-review

3 Citations (Scopus)

Abstract

Teleoperation systems developed in joint-space or task-space without taking into account parameter uncertainties impede the application of such framework on automation and manufacturing system. In this paper, a passivity-based control framework is proposed to accomplish teleoperation in the presence of unknown parameters and communication delays. First, we demonstrate that based on the addressed adaptive laws, the individual closed-loop robotic systems are passive. A passive coordination control is then utilized to ensure the position and velocity tracking between the local and remote robots. The interconnected system is proven to be stable, and experimental results are presented to verify the efficacy of the proposed control algorithms.

Original languageEnglish
Article number6899337
Pages (from-to)271-276
Number of pages6
JournalIEEE International Conference on Automation Science and Engineering
Volume2014-January
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE International Conference on Automation Science and Engineering, CASE 2014 - Taipei, Taiwan
Duration: 2014 Aug 182014 Aug 22

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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