Adaptive impedance control for bilateral teleoperation of long reach flexible manipulators
Love, Lonnie J.
Book, Wayne John
MetadataShow full item record
Current applications in the field of telerobotics, such as space based assembly and nuclear waste remediation, require the use of long reach manipulators. These robots are characterized by their large workspace and reduced mass. Unfortunately, this reduction in mass increases structural compliance making these robots susceptible to vibration. Until recently, no attempt has been made to provide the operator any type of force reflection due to the compliance of the slave robot. This research addresses the control of bilateral teleoperation systems that use long reach flexible manipulators. Experiments indicate that the compliance of the slave robot directly affects the stability of the teleoperation system. Our study suggests that this may be controlled by increasing the damping on the master robot. This increase in target damping increases the effort an operator must exert during the execution ofa task. To circumvent this limitation, the authors propose an adaptive impedance control paradigm. A new teleoperation strategy adapts the target impedance of the master robot to variations in the identified impedance of the remote environment coupled to the slave robot. Experiments suggest increased performance due to a decrease in the power the operator must provide during the execution of a task.