ICRA 2011 Paper Abstract

Close

Paper TuP105.2

Liu, Xia (University of Electronic Science and Technology of China), Tavakoli, Mahdi (University of Alberta)

Adaptive Control for Linearly and Nonlinearly Parameterized Dynamic Uncertainties in Bilateral Teleoperation Systems

Scheduled for presentation during the Regular Sessions "Teleoperation II" (TuP105), Tuesday, May 10, 2011, 13:55−14:10, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Teleoperation

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.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2020 PaperCept, Inc.
Page generated 2020-04-02  12:44:30 PST  Terms of use