Impedance control of non-passive bilateral teleoperation systems with uncertain dynamics

Abstract

In this paper, synchronization of nonlinear teleoperation systems in the presence of non-passive and uncertain conditions in both the operator and the environment is studied. Despite existing approaches in the literature which are based on linear impedance models, the proposed approach in this paper has considered uncertain nonlinearities in the impedance model which results in better tracking performance in both sides. Simulation results for a pair of 3-DOF master/slave robot manipulators verifies the accuracy of the proposed strategy.