Design of an adaptive controller in a workspace for a bilateral control system with a time delay

Communication delay between a master robot and a slave robot destabilizes a bilateral control system. A few recent research studies have shown that an adaptive controller that dynamically determines the gain of master controller depending on the stiffness of a contact object is effective in improving stability. However, since conventional adaptive controllers are designed in a joint space, the controllers do not work when the structure of a master robot is different from that of a slave robot. Thus, this paper designs an adaptive controller in a workspace. The validity of the controller is verified via an experiment of a bilateral control using a two degree of freedom manipulator.

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