PASSIVE BILATERAL CONTROL OF TELEOPERATORS UNDER CONSTANT TIME-DELAY

摘要

We propose a novel control scheme for teleoperators consisting of a pair of multi-degree-of-freedom (DOF) nonlinear robotic systems under a constant communication time delay. By passifying the communication and control blocks together, the proposed control scheme guarantees energetic passivity of the closed-loop teleoperator in the presence of parametric uncertainty and a constant communication delay without relying on widely utilized scattering or wave formalisms. The proposed control scheme also achieves master-slave position coordination and bilateral static force re°ection. The proposed control scheme is symmetric in the sense that the control and communication laws of the the master and slave are of the same form. Simulations are performed to validate properties of the proposed control scheme.