Task-Space Adaptive Control of Bilateral Teleoperators with Time-Varying Delay

摘要

This paper investigates the task-space control of bilateral teleoperators with arbitrary bounded time-varying communication delay. Both the kinematic and dynamic uncertainties of the teleoperators are taken into consideration. To deal with the effect of the kinematic uncertainties, which is quite prominent if the communication delay is time-varying, we develop a task-space adaptive bilateral controller by introducing dynamic feedback without involving relative velocity information. To achieve the separation property and avoid the task-space velocity measurement, we propose another task-space adaptive bilateral controller based on designing task-space reference positions. We claim that the controllers proposed guarantee the task-space position synchronization of the master and slave robots. If the gravitational torques are precompensated, static force reflection is also achieved in the sense of certainty equivalence.