BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS

Stefan Lichiardopol, Nathan van de Wouw, Henk Nijmeijer

2010

Abstract

It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is based on a cyclic switching algorithm. In the first phase of the cyclic algorithm, we estimate the environmental force and in the second phase a tracking controller ensures that the position of the slave robot is tracking the position of the master robot. A stability analysis of the overall closed-loop system is presented and the approach is illustrated by means of an example.

Paper Citation

in Harvard Style

Lichiardopol S., van de Wouw N. and Nijmeijer H. (2010). BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 39-46. DOI: 10.5220/0002934400390046

in Bibtex Style

@conference{icinco10,
author={Stefan Lichiardopol and Nathan van de Wouw and Henk Nijmeijer},
title={BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={39-46},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002934400390046},
isbn={978-989-8425-01-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS
SN - 978-989-8425-01-0
AU - Lichiardopol S.
AU - van de Wouw N.
AU - Nijmeijer H.
PY - 2010
SP - 39
EP - 46
DO - 10.5220/0002934400390046