Abstract
In a previous paper, a control law has been developed for passive bilateral teleoperator to achieve theoretically perfect coordination in the presence of arbitrary environment forcing, and to enable the teleoperator to behave like a passive rigid mechanical tool. In this paper, we develop an adaptive control law to relax the need for the precise knowledge of inertia parameters, and a robust control law to eliminate the need for expensive force sensors. In addition, a novel experiment, that mimics the dynamics of piano playing is used to evaluate the efficacies of the various controllers to provide kinesthetic coupling.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 4612-4618 |
| Number of pages | 7 |
| Journal | Proceedings of the American Control Conference |
| Volume | 6 |
| State | Published - 2001 |
| Event | 2001 American Control Conference - Arlington, VA, United States Duration: Jun 25 2001 → Jun 27 2001 |