Experimental results on bilateral control using an industrial telemanipulator

Abstract

The goal of this chapter is to experimentally study the behaviour of bilateral controllers. Previous chapter introduced a general framework for designing bilateral systems. In this chapter, performance of some of the most common control schemes is analyzed. In case of negligible time delay, experiments have been carried out by implementing position-position and force-position controllers. Force-velocity control scheme has been used in presence of communication time delays. Experiments have been run with a constant delay of 100 ms in the communication channel. In this case, master-slave interconnection has been described by means of the corresponding scattering variables. Experimental results of the different control schemes have been obtained using an industrial telemanipulator of 6 degrees of freedom manufactured by Kraft Telerobotics. © 2007 Springer-Verlag Berlin Heidelberg.