Stable hybrid remote manipulation system with adaptive environment observer using time-scale transformation

A hybrid remote manipulation system has good transparency between master and slave systems under time delay. In this paper, we propose new adaptive environment observer using time-scale transformation for a hybrid remote manipulation system. Time-scale transformation compensates for nonlinearities in the observer, and we can design parameters of the observer by pole placements. The proposed observer estimates the characteristics of the environment instantly, and enables the system to predict the motion of the slave manipulator under time delay. We confirm the effectiveness of the proposed system by computer simulation and by experiment using actual robot-manipulators with force-moment sensors.