Dynamics-based adaptive control for a master-slave system in teleoperation

摘要

In this paper, a dynamics-based adaptive control scheme is developed to achieve stability for teleoperation system and its transparency in the sense of motion/force tracking. The proposed scheme does not require either accurate dynamic parameters of manipulators or models of human operator and remote environment. Adaptive controllers are bilaterally designed for both master and slave sites to guarantee the stability of whole system and performance of motion tracking. Especially, the concept of a virtual master manipulator is introduced to obtain the convergence to zero of force tracking error. The validity of the proposed control scheme and its advantages of control performances over conventional impedance matching control are confirmed by numerical simulations and experiments.