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Authors: Stefan Lichiardopol ; Nathan van de Wouw and Henk Nijmeijer

Affiliation: Eindhoven University of Technology, Netherlands

Keyword(s): Bilateral teleoperation, Force sensor-less robotic setups.

Related Ontology Subjects/Areas/Topics: Human Augmentation and Shared Control ; Informatics in Control, Automation and Robotics ; Robotics and Automation ; Telerobotics and Teleoperation

Abstract: It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is based on a cyclic switching algorithm. In the first phase of the cyclic algorithm, we estimate the environmental force and in the second phase a tracking controller ensures that the position of the slave robot is tracking the position of the master robot. A stability analysis of the overall closed-loop system is presented and the approach is illustrated by means of an example.

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Paper citation in several formats:
Lichiardopol, S.; van de Wouw, N. and Nijmeijer, H. (2010). BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-01-0; ISSN 2184-2809, SciTePress, pages 39-46. DOI: 10.5220/0002934400390046

@conference{icinco10,
author={Stefan Lichiardopol. and Nathan {van de Wouw}. and Henk Nijmeijer.},
title={BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2010},
pages={39-46},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002934400390046},
isbn={978-989-8425-01-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - BILATERAL TELEOPERATION FOR FORCE SENSORLESS 1-DOF ROBOTS
SN - 978-989-8425-01-0
IS - 2184-2809
AU - Lichiardopol, S.
AU - van de Wouw, N.
AU - Nijmeijer, H.
PY - 2010
SP - 39
EP - 46
DO - 10.5220/0002934400390046
PB - SciTePress

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