Muhammad Tufail and Clarence W. de Silva
Haptic teleoperation, impedance control, homecare robotics
This paper presents an approach of teleoperation using impedance control for both master and slave manipulators. The four-channel architecture with impedance control ensures enhanced transparency by appropriately controlling the dynamic behaviour between motion and applied forces in the task space of the manipulators executing contact tasks. Performance of the system is improved by using online estimation of stiffness in the unknown environment with which the slave manipulator is in contact. The effectiveness of the proposed control approach is validated using experiments and results are presented.
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