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Adaptive force reflecting teleoperation with local force compensators

Published online by Cambridge University Press:  14 February 2007

Yushing Cheung ,
Jae H. Chung  and
Daehie Hong
Yushing Cheung*
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Castle Point on Hudson, Hoboken, NJ 07030, USA
Jae H. Chung
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Castle Point on Hudson, Hoboken, NJ 07030, USA
Daehie Hong
Affiliation:
Department of Mechanical Engineering, Korea University, 5 ga Anam-dong Sungbuk-gu, 136–701 Seoul, Korea
*
*Corresponding author. E-mail: ycheung@stevens.edu
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Summary

This paper addresses problems to achieve transparency and contact stability for teleoperation that consists of unconstrained and constrained motions. The adaptive bilateral control with a local force compensator is developed, based on adaptive impedance control and contact force driven compensation with auto-switching functions. Without any knowledge about robotic and environment dynamics and with a communication delay, the developed method guarantees good adaptive tracking performance in unconstrained motion and reduction of oscillating contacts in constrained motion. Based on an actual haptic device and a virtual manipulator, haptic simulations are presented to demonstrate adaptive transparency and contact stability in the presence of communication delay.

Keywords

TeleoperationAuto-switching capacityError recovery
Type
Article
Information
Robotica , Volume 25 , Issue 4 , July 2007 , pp. 433 - 444
Copyright
Copyright © Cambridge University Press 2007

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