Teleoperation with Adaptive Motion/Force Control

  title={Teleoperation with Adaptive Motion/Force Control},
  author={Wen-Hong Zhu and Septimiu E. Salcudean},
In this paper, an adaptive motion/force control based approach is proposed to control bilateral teleoperation systems under both position and rate control with arbitrary motion/force scaling. The master and the slave are treated separately, and are subject to independent adaptive motion/force control. A model of the human operator is incorporated into the dynamics of the master robot, while a model of the environment is incorporated into the dynamics of the slave robot. L2 and L1 stability is… CONTINUE READING
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