A self-adjusting compliant bilateral control scheme for time-delay teleoperation in constrained environment

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A self-adjusting compliant bilateral control scheme for time-delay teleoperation in constrained environment

Chen, Zhang / Liang, Bin / Zhang, Tao

Abstract When teleoperations are implemented in the constrained environment, the lack of environment information would lead to contacts and undesired excessive contact forces, which are more evident with the existence of time delays. In this paper, a hybrid compliant bilateral controller is proposed to deal with this problem. The controller adopts a self-adjusting selecting scheme to divide the subspaces online. The master and slave manipulators are synchronized in the position subspace through an adaptive bilateral control scheme. At the same time, the slave manipulator is controlled by a local sliding mode impedance controller in order to achieve the desired compliant motion when contacting with the environment. Theoretical analysis proves the stability of the hybrid bilateral controller and concludes the transient performance of the teleoperators. Simulations are carried out to verify the effectiveness of the proposed approach. The results show that the control goals are all achieved.

Highlights • A hybrid compliant bilateral controller is proposed for constrained teleoperating. • The bilateral controller is robust to time delays with adaptive scheme. • The controller is self-adjusting according to the unknown constrained environment. • Teleoperators behave compliant with sliding-mode impedance control. • Contrast simulations show the superiority of performance.