Bilateral Control Architecture for Telerobotics Systems in Unknown Environments

  • Authors:

  • José M. Azorín;Rafael Aracil;Carlos Pérez;Nicolás M. García;José M. Sabater

  • Affiliations:

  • Virtual Reality and Robotics Lab, Universidad Miguel Hernández de Elche, Elche, Spain 03202;Universidad Politécnica de Madrid, Madrid, Spain 28006;Virtual Reality and Robotics Lab, Universidad Miguel Hernández de Elche, Elche, Spain 03202;Virtual Reality and Robotics Lab, Universidad Miguel Hernández de Elche, Elche, Spain 03202;Virtual Reality and Robotics Lab, Universidad Miguel Hernández de Elche, Elche, Spain 03202

  • Venue:
  • EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
  • Year:
  • 2008

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Abstract

This paper presents a bilateral control architecture for teleoperation systems where the environment must not be identified to design the control gains. In this control scheme, the interaction force of the slave with the environment is an external input. This force is not modeled by gains inside the control architecture. In the paper, the state convergence methodology is used to design the control gains of the teleoperation system. The control system allows that the slave state follows the master state and to establish the desired dynamics of the teleoperation system. Several simulation results are shown to verify the performance of the control scheme.