NDLI: Nonlinear adaptive bilateral control of teleoperation systems with uncertain dynamics and kinematics

Content Provider	IEEE Xplore Digital Library
Author	Liu, X. Tavakoli, M. Huang, Q.
Copyright Year	2010
Description	Author affiliation: Department of Electrical and Computer Engineering, University of Alberta, Edmonton, T6G 2V4 Canada (Tavakoli, M.) \|\| School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan, 610054 China (Liu, X.; Huang, Q.)
Abstract	Research so far on adaptive bilateral control of master-slave teleoperation systems considers dynamic uncertainties but stops short of considering kinematic uncertainties. However, when picking up objects of unknown lengths, orientations and gripping points, the overall kinematics of a robot in the teleoperation system becomes uncertain. Therefore, new controllers are required that can guarantee the stability and motion tracking performance of the system in the presence of both dynamic and kinematic uncertainties in the master and the slave robots. In this paper, first the uncertain dynamics of the human operator and the environment are incorporated into the dynamics of the master and the slave, respectively. Then, for a teleoperation system with uncertain dynamics and kinematics, nonlinear adaptive controllers are designed for both the master and the slave. The controllers do not need exact knowledge of the dynamics of the master, the slave, the operator, or the environment, or of the kinematics of the master or the slave. The stability and position tracking convergence of the entire teleoperation system are studied. The validity of the theoretical results is verified by simulations.
Starting Page	4244
Ending Page	4249
File Size	610613
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5652345
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Robots
Content Type	Text
Resource Type	Article

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