Abstract
The control problem for bilateral teleoperation systems using only one controller is studied in this paper. In the proposed control framework, the remote robot transmits position/velocity signals to the controller located with the local robot. The corresponding control inputs for local and remote robots are obtained from the same controller. The individual control signal is sent to the local robot directly, and transmitted to the remote robot over a network subject to communication delays. Two control algorithms, P-like and PD-like controllers, are considered in the novel bilateral teleoperation system framework. Stability and tracking performance can be guaranteed if control gains are contingent to time delays when the external force are passive or both robots are in free motion. Numerical examples are presented to validate the performance of the proposed bilateral teleoperation control systems.
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.
