Abstract
Two control structures are presented for a robotic teleoperation system, including, for designing purposes, a human model in the control loop. An impedance control structure is implemented at the remote site. An adaptive impedance control structure for the remote system is proposed as well, with kinesthetic and visual feedback from the remote interaction force to the operator. Force references in both tactile and vision channels are included. This last structure lets improve the general performance of the entire teleoperation system, when either the remote robot’s load or parameters are unknown or known with uncertainties. The effects of discretizing the control algorithm and of the communication time delays between the local and remote stations, on the general stability and on the system’s performance, are analysed. Simulation results show the impedance error and force error asymptotic convergence.
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