Passive control of bilateral teleoperated manipulators

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations

Abstract

The control of a bilateral teleoperated manipulator system is considered. The goal of the control are to i) coordinate the motions of the two manipulators according to a predefined kinematic scaling, ii) render the dynamics of a locked system, and its response to forces from the human operator and environment to approximate that of predefined natural dynamics, iii) to provide for possible scaling of power. In addition, for safety reasons, the closed loop system need to remain passive. For linear dynamically similar systems, dynamics of the system can be block diagonalized into two decoupled mechanical systems: the shape system that deals with the coordination error, and the locked system that describe the average motion of the two manipulators. The passive velocity field control methodology is then applied to the shape system to regulate the coordination error at 0 and at the same time preserves the passivity of the overall system.

Original languageEnglish (US)
Title of host publicationProceedings of the 1998 American Control Conference, ACC 1998
Pages3838-3842
Number of pages5
DOIs
StatePublished - 1998
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: Jun 24 1998Jun 26 1998

Publication series

NameProceedings of the American Control Conference
Volume6
ISSN (Print)0743-1619

Other

Other1998 American Control Conference, ACC 1998
Country/TerritoryUnited States
CityPhiladelphia, PA
Period6/24/986/26/98

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