Brief paper: Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics
Automatica (Journal of IFAC)
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays
IEEE Transactions on Robotics
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
On tracking performance in bilateral teleoperation
IEEE Transactions on Robotics
A Globally Stable PD Controller for Bilateral Teleoperators
IEEE Transactions on Robotics
Experimental Analysis of Mobile-Robot Teleoperation via Shared Impedance Control
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Fuzzy Systems
Telepresence Index for Bilateral Teleoperations
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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The coordination control design problem for the master-slave system is addressed in this paper. In order to meet the actual work condition, we assume that the master works in a laboratory, the slave works in remote side where the environment is very complex, and the master and slave are in different sizes. Three problems are needed to be solved: system dynamics uncertainties, system kinematics uncertainties, and the asymmetric time-varying delays. The new task-space based Proporation plus damping (P+d) controller and adaptive fuzzy P+d controller are proposed for the master and the slave, respectively. By choosing proper Lyapunov functions, we have proved that the synchronization errors converge to zero asymptotically with the new controllers. The delay-dependent stability criterion is derived. With the given parameters, the proposed allowable maximal transmission delay can be computed. Finally, the simulations are performed to show the effectiveness of the proposed method.