Abstract
Bilateral teleoperators allow humans to execute tasks in remote environments, e.g., nuclear plants, outer space missions, surgery, etc. The control of bilateral teleoperators has been an active research field since the late 80s. Most of the proposed schemes, that range from scattering and passivity-based to sliding-mode and adaptive controllers, make use of velocity measurements. In this work we deal with the control of bilateral teleoperators using only position feedback. The proposed novel controller is composed of a twofold: i) gravity compensation plus a proportional error term and ii) an auxiliary second-order controller dynamics. It is formally proved that, when the human operator and the environment forces are zero, velocities and position error asymptotically converge to zero. Simulations show the effectiveness of the proposed scheme.
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