Robust and Adaptive Teleoperation for Compliant Motion Tasks
نویسندگان
چکیده
This paper presents a novel teleoperation scheme to control a PUMA robotic manipulator with a Phantom haptic device. Using local force control at the slave robot, contact with soft and hard surfaces is attained with high performance. The control design inserts a virtual spring between the master and slave control systems to generate the desired forces. The closed loop performance is increased by using an active observer and on-line stiffness adaptation to the slave contact environment in its forcefeedback controller.
منابع مشابه
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