Vision-navigated Bilateral Control for Master-slave Teleoperation System

摘要

In this paper, we consider a vision-navigated bilateral control for master-slave teleoperation system. Firstly, a brief summary of the passivity-based visual feedback system is provided. Next, a vision-navigated teleoperation system is constructed by combining the visual feedback system and the master-slave teleoperation system. After that, we propose the vision-navigated bilateral control law and discuss the stability analysis based on the Lyapunov method. Finally, the simulation results show the validity of the proposed vision-navigated bilateral control.