Abstract
AbstractThis paper investigates the adaptive control design problem for time-delayed bilateral teleoperation systems with dynamic and kinematic uncertainties. The majority of the previous investiga...
Highlights
Teleoperation systems extend the sensing and manipulation abilities of human operators to an environment, which might be remote, out-of-reach, hazardous, or virtual
This research is developed based on the previous investigation of the authors which was presented at an international conference
The estimation of the kinematic parameters and dynamic parameters of the master robot are shown in Figures 4 and 5, respectively
Summary
Teleoperation systems extend the sensing and manipulation abilities of human operators to an environment, which might be remote, out-of-reach, hazardous, or virtual. The adaptive control methodology have been employed in (Chopra, Spong, & Lozano, 2008) and (Nuño, Ortega, & Basañez, 2010) to estimate uncertain parameters and develop model-based control laws for teleoperation systems Note that, these studies have presented position-position control structures, meaning that the positions of each of the master and slave robots are transmitted to the other side. An adaptive control approach is presented to stabilize the teleoperation system under uncertainty in both kinematic and dynamic parameters. If the control law (45) and the adaptation laws (49) and (53) are applied to the slave robot; the closed-loop system h qTs q_ Ts. a useful proposition regarding the ISS stability of a general system subject to input delay is presented.
Sign-in/Register to view highlights & summary 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 callDisclaimer: 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.
