Teleoperation with adaptive motion/force control

An adaptive motion/force control based approach is proposed for the bilateral teleoperation systems under both position and rate control with arbitrary motion/force scaling. The master and the slave are treated separately, and are subject to independent adaptive motion/force control. A model of the human operator is incorporated into the dynamics of the master robot, while a model of the environment is incorporated into the dynamics of the slave robot. Position/velocity tracking errors between the master and slave robots are shown to be in L₂∩L_∞. The overall teleoperation system is equivalent to a free-floating mass plus a linear damper specified by the control and scaling parameters only. In comparison to previous teleoperation approaches, this approach possesses three novel features: 1) it is L₂ and L_∞ stability guaranteed with motion/force tracking capability, 2) it can handle parameter uncertainties by applying independent parameter adaptation, and 3) it takes into account the full nonlinear dynamics of the master/slave robots. The validity of the theoretical results are verified by experiments