Coordination Control for Haptic and Teleoperator Systems

Abstract

Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Abstract:In this paper, two controllers are developed for nonlinear haptic and teleoperator systems for coordination of the master and slave systems. The Þrst controller is proven to yield a semi-global asymptotic result in the presence of parametric uncertainty in the master and the slave dynamic models provided the user and the environmental input forces are measurable. The second controller yields a global asymptotic result despite unmeasurable user and environmental input forces provided the dynamic models of the master and slave are known. These controllers rely on a transformation and a ßexible target system to allow the master system's impedance to be easily adjusted so that it matches a desired target system. This work also offers a structure to encode a velocity Þeld assist mechanism to provide the user help in controlling the slave system in completing a pre-deÞned contour following task. For each controller, Lyapunovbased techniques are used to prove that both controllers provide passive coordination of the haptic/teleoperator system when the velocity Þeld assist mechanism is disabled. When the velocity Þeld assist mechanism is enabled, the analysis proves the coordination of the haptic/teleoperator system. Simulation results are presented for both controllers.

Operational/task space learning control of robot manipulators with dynamical uncertainties

“…Remark 4: Based on the derivations detailed in [19], the auxiliary function N (·) can be shown to be bounded in the sense that…”