Adaptive control for linearly and nonlinearly parameterized dynamic uncertainties in bilateral teleoperation systems

Abstract

Abstract-Existing work concerning adaptive control of uncertain teleoperation systems can only deal with linearly parameterized (LP) dynamic uncertainties. Typical teleoperation system dynamics, however, posses terms with nonlinearly parameterized (NLP) structures. Stribeck friction is an example of NLP terms in robot dynamics. If not compensated for in the control scheme, uncertainties in the NLP dynamic terms may lead to significant tracking errors. In this paper, for a bilateral teleoperation system, adaptive controllers are designed for the master and slave robots with both LP and NLP dynamic uncertainties. Next, these controllers are incorporated into the 4-channel bilateral teleoperation framework. Then, transparency of the overall teleoperation is studied via a Lyapunov function analysis. A simulation study demonstrates the effectiveness of the proposed adaptive scheme.

Study on the Teleoperation Virtual Liver Surgery Simulation System with Haptic Feedback

“…Remote robot used in this system is designed based on the mechanical arm, which is composed of hand, movement mechanism and control system [5] [6]. The hand which is used to interact with the real object, has different structural forms according to the shape, size, weight, material, and requirements of the grasping objects, but the single point surgical instrument is selected at the initial study because the haptic device used in front part of the system is single point.…”