On tracking performance in bilateral teleoperation

N. Chopra, M.W. Spong, R. Ortega, N.E. Barabanov
2006 IEEE Transactions on robotics  
This paper addresses the problem of steady-state position and force tracking in bilateral teleoperation. Passivity-based control schemes for bilateral teleoperation provide robust stability against network delays in the feedback loop and velocity tracking, but do not guarantee steadystate position and force tracking in general. Position drift due to data loss and offset of initial conditions is a well-known problem in such systems. In this paper, we introduce a new architecture, which builds
more » ... re, which builds upon the traditional passivity-based configuration by using additional position control on both the master and slave robots, to solve the steady-state position and force-tracking problem. Lyapunov stability methods are used to establish the range of the position control gains on the master and slave sides. Experimental results using a single-degree-of-freedom master/slave system are presented, showing the performance of the resulting system.
doi:10.1109/tro.2006.878942 fatcat:gb4sx6yeifdcpkkbwafubhjpdq