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• W1562500627 abstract "Significant research has been aimed at the development and control of teleoperator systems. Two controllers are developed in this paper for a nonlinear teleoperator system that targets coordination of the master and slave manipulators and passivity of the overall system. The first controller is proven to yield a semi-global asymptotic result in the presence of parametric uncertainty in the master and slave manipulator dynamic models. The second controller yields a global asymptotic result despite unmeasurable user and environmental input forces. To develop each controller a transformation encodes the coordination and passivity requirements within the closed loop system. The coordinated system is forced to track a dynamic system to assist in meeting all control objectives. Finally, continuous nonlinear integral feedback terms are used to accommodate for incomplete system knowledge for both of the controllers. Lyapunov-based techniques are used to prove that all control objectives are met and that all signals are bounded" @default.
• W1562500627 created "2016-06-24" @default.
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• W1562500627 date "2006-10-11" @default.
• W1562500627 modified "2023-09-24" @default.
• W1562500627 title "Passive coordination of nonlinear bilateral teleoperated manipulators" @default.
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• W1562500627 doi "https://doi.org/10.1109/aim.2005.1511188" @default.
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