Adaptive transparent impedance reflecting teleoperation

To achieve transparency for teleoperation in unknown or time varying environments a class of indirect adaptive bilateral control schemes is developed based on the Slotine-Li (1989) "composite adaptive control" schemes and the "impedance bilateral control" architecture presented by Hannaford (1989). The proposed controllers need master and slave position, velocity and acceleration measurements and require no force sensing. Numerical simulations are worked out to demonstrate the transparency and robustness of the controllers to time delay.