Nonlinear bilateral control of 4-channel teleoperation systems using adaptive force estimator

Abstract

This paper presents a nonlinear 4-channel bilateral teleoperation system, without using force sensor. In the design procedure, the adaptive control laws estimate and compensate the exerted forces on both master and slave robots. The estimated forces are then used in a control loop for modifying the trajectory of both robots to meet the full transparency condition. The stability and the transparency of the teleoperation system are analyzed, based on the Lyapunov theorem. Some simulations are also presented for a two planar two-degree of freedom manipulator to show the efficiency of the proposed control algorithm.