Transparent Bilateral Control Architecture by State Convergence for Telerobotics
نویسندگان
چکیده
This paper presents a bilateral control scheme designed to achieve the two main goals of a teleoperation system: stability and transparency. The control scheme allows that the slave follows the master, ant that the force displayed to the operator was exactly the reaction force from the environment. In addition, the interaction force of the slave with the environment is adapted to the master/slave ratio when it is reflected to the operator, improving the transparency of the system. The bilateral control scheme can be used in contact situations or non-contact situations (free motion) of the slave with the environment. Together with the control scheme, the paper describes an analytical design method that allows to obtain the control gains.
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