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This paper presents a robust adaptive controller to achieve position tracking and unknown parameters problem in teleoperation system with time delay in communication channel. The smooth sliding mode control is added to deal with uncertainties in modeling, instead of normal sliding mode control to avoid the chattering problem. This robust adaptive control can guarantee that the system is asymptotically...
This paper presents a robust adaptive algorithm with smooth sliding mode for bilateral control system which necessary uses for achieving in teleoperation. The system uses a hybrid structure to implement simultaneous force and position control, with a two-channel controller. The desired trajectory is the position of a master device manipulated by a human operator, which serves as the reference position...
Kinematically redundant robotic manipulators (KRRM) can provide a great degree of flexibility for working in complex unstructured environments. Teleoperation control of KRRM requires a strategy to resolve the redundancy of the slave robot while achieving transparency in the task space. In this paper, a two-master control approach is proposed in which the first master transparently controls the redundant...
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