A NEW ADAPTIVE CONTROL SCHEME FOR TELEOPERATION WITH VARYING TIME DELAY

A new method for controlling robots over the internet, where communication propagation delays exist, is presented. These delays are potentially destabilizing, and certainly degrade the human operator’s intuition and performance. Taking into account the time-varying non-deterministic nature of the control and delays, a novel adaptive inverse controller is proposed. Moreover, force feedback is provided to ensure that the system is robust and transparent. Special strategy has been presented to determine the reference model for adapting the slave-side controller and accordingly, drift in position tracking has been compensated in free motion status and reduced in hard contact.

Keywords:

Teleoperation , inverse control , bilateral force feedback , robot control