A New Indicator for Gain-Switching Control of Position Error-based Teleoperation System

Abstract

Some adaptive control schemes was suggested for teleoperation systems. These schemes are based on environment impedance estimation which has abrupt changes. In this paper, estimation loop is applied to identify just gradual variations in the slave robot dynamic. Then the required data for compensating environment changes are explored through accurate slave dynamic. Experimental results for both negligible time delay and 150 ms time delay in the communication channel are included to show the effectiveness of the proposed controller. Also, stability analysis for the designed controller is presented