Bilateral teleoperation by sliding mode control and reaction force observer

摘要

Bilateral robotic teleoperators are often required to provide a haptic interaction in telerobotic applications in which human kinesthetic sense is stimulated locally by remote environment. On the other side, sliding mode control (SMC) has been used extensively in robotics to cope with parameters uncertainty, model perturbations and system disturbance. The paper deals with SMC design approach to bilateral control for a haptic-based master-slave telerobotic architecture. Chattering-free SMC design procedure for derivation of bilateral control is presented. The proposed bilateral control scheme was experimentally validated for a 1DOF master-slave teleoperator.