Abstract
It is well known that bilateral control becomes unstable in teleoperation with time delay. To tackle this problem, a model-based teleoperation system was introduced. Forces, reflected from the model on the ground-site, do not depend upon the existing time delay in the system. Unfortunately, such model-based systems strongly depend on the accuracy of the model. In our previous work, we proposed a teleoperation system which is robust with respect to geometric modeling errors. However, our system could not deal with dynamic modeling errors. In this paper, we propose a new approach to the model-based teleoperation, based on mixed force and motion commands. With this approach, both geometric and dynamic modeling errors are tolerable. The experimental results confirm the effectiveness of the approach.
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