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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...
In this paper, an adaptive control scheme is developed for an n-DOF nonlinear time-variant teleoperation system with large time delays in the communication channels. To make the stability of the overall system be independent of the communication delay, two nonlinear adaptive motion/force controllers are bilaterally designed for both master and slave manipulators. A compliant force feedback loop is...
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