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A bilateral teleoperation controller considering the transition between the free space motion and the constrained motion

Published online by Cambridge University Press:  01 November 2008

Heng Wang ,
K. H. Low  and
Michael Yu Wang
Heng Wang
Affiliation:
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore639798
K. H. Low*
Affiliation:
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore639798
Michael Yu Wang
Affiliation:
Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China.
*
*Corresponding author: E-mail: mkhlow@ntu.edu.sg
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Summary

A two-channel bilateral controller is proposed for teleoperation systems. The controller takes into account both the free space motion and the constrained motion. Specifically, the force-position (F-P) architecture is applied during the constrained motion, while the position-position (P-P) architecture is applied during the free space motion. Theoretically, perfect transparency can be achieved. In addition, it does not need to switch the control modes of the master and the slave controllers during the transition between the free space motion and the constrained motion. Experiments are conducted to validate the analysis, and to demonstrate the effectiveness of the proposed bilateral controller. The limitations of the proposed controller are also discussed.

Keywords

TeleoperationBilateral controlTransparencyTransition of motion
Type
Article
Information
Robotica , Volume 26 , Issue 6 , November 2008 , pp. 781 - 790
Copyright
Copyright © Cambridge University Press 2008

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