Abstract
This paper is focused on composite adaptive control design for master-slave teleoperation systems with a flexible-joint manipulator as the slave. Gravity compensation and time-varying delays are considered. For the master manipulator, the composite adaptive controller with a novel adaptation law is designed to guarantee the parameter estimation error and the tracking error converging to zero. For the slave manipulator with joint flexibility, the proportional plus damping control with gravity compensation is proposed. The stability criteria of the closed-loop teleoperation system are given in terms of linear matrix inequalities. Comprehensive simulation studies are provided to demonstrate the effectiveness of the proposed control scheme.
Highlights
With the rapid development of space technology, marine technology, and atomic energy technology, advanced robots working in dangerous and unknown environments are urgently and greatly required
A typical bilateral teleoperation system is composed of a human operator, a master manipulator, a communication channel, a slave manipulator and a task environment
The master is operated by the human operator and the slave contacts the environment such that the remote operation can be completed
Summary
With the rapid development of space technology, marine technology, and atomic energy technology, advanced robots working in dangerous and unknown environments are urgently and greatly required. Y. Li et al.: Composite Adaptive Control of Teleoperators With Joint Flexibility, Uncertain Parameters, and Time-Delays. Different kinds of stability analysis works were provided in [27] with flexible joint robot and variable time-delays. Motived by the above-mentioned facts, in this paper, considering time-varying delays, a new composite adaptive controller and a gravity compensation controller are designed for the teleoperation system which is composed of a rigid manipulator as the master and a flexible joint manipulator as the slave. For the master rigid manipulator, a composite adaptive control is proposed to handle the parameter uncertainties such that the parameter estimation error converges to zero without the PE condition. For the slave flexible-joint manipulator, considering the gravity compensation, the proportional plus damping (P+d) controller is designed to improve the tracking performance. The time index has been omitted in this paper
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