Robust control-based linear bilateral teleoperation system without force sensor

• Main Authors: Amini, H., Dabbagh, V., Rezaei, S.M., Zareinejad, M., Mardi, N.A., Sarhan, A.A.D.
• Format: Article
• Language: English
• Published: Springer Verlag (Germany) 2015
• Subjects: T Technology (General); TJ Mechanical engineering and machinery
• Online Access: http://eprints.um.edu.my/14032/1/Robust_control-based_linear_bilateral_teleoperation_system_without.pdf; http://eprints.um.edu.my/14032/; http://link.springer.com/article/10.1007%2Fs40430-014-0207-2

Among the prevalent methods in linear bilateral teleoperation systems with communication channel time delays is to employ position and velocity signals in the control scheme. Utilizing force signals in such controllers significantly improves performance and reduces tracking error. However, measuring...