Abstract:
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A bilateral teleoperator is composed of a local
and a remote manipulators interconnected through a communication
channel. A human operator interacts with the local
manipulator to remotely execute a given task via the remote
manipulator and the interaction of the remote manipulator
with the remote environment is reflected back to the human
operator. Thus, the control objective is to establish local and
remote position synchronization. This paper employs adaptive
control techniques, that can achieve the desired control objective,
to an experimental setup composed of two nonlinear
manipulators. In these novel experimental results the local and
remote manipulators are located in Guadalajara, Mexico, and
in Barcelona, Spain, respectively. The manipulators are two
Sensable's PHANToM Omni® devices and are interconnected
through the Internet. It is shown, experimentally, that the
adaptive controllers provide asymptotic stability of the local
and remote position error even in the presence of variable timedelays. |