Abstract
This paper proposes a new bilateral control method of Single Master and Single Slave (SMSS) Tele-robot system. In this strategy, we propose a combination control method between PD and Scattering and Virtual Damping parameters to improve the tracking performance and transparency of Tele-robot, the reflecting force from slave side will be stable. Using Lyapunov technique, we can achieve the global stability of the control law. The achievement results of the proposed method are shown with the transparency improvement such as position and force between both sides of the Tele-robot system in two cases: the slave moves without any contact and the slave moves in contact with the environment. The simulation results showed the effectiveness of our proposed control method.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of the Symposium on the Motion and Vibration Control
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
