Output based bilateral adaptive control of partially known robotic systems

摘要

This paper describes the design and implementation of a robust adaptive bilateral observer based control to solve the trajectory tracking problem for a class of master-slave robotic systems. The output-based bilateral control uses an adaptive observer to estimate the force and the unmeasurable velocity state considering only the master-slave system order as well as the position measurements. The stability of the observer and controller is simultaneously proved via the second method of Lyapunov. A set of experimental tests proved the performance of the presented algorithm for a manipulation task in a bilateral teleoperated system based on two delta robots.