IMPLEMENTATION OF SENSORY FEEDBACK AND TRAJECTORY TRACKING IN ACTIVE TELEMANIPULATION SYSTEMS

This paper presents an approach to the implementation of sensory feedb ack in a robotic telemanipulation system. The system considered here c onsists of kinematically similar master-slave robotic manipulators. We propose a control scheme whereby the slave tracks the motion commande d by the human operator through the master mechanism. The scheme also accommodates, in a unified manner, different sources of sensory feedba ck. These include combined effects of the interaction with unknown env ironments and changes in structural properties of the slave manipulato r due to additional unknown loads. The control algorithm is based on c ontinuously sliding variable structure control, which is a nonlinear a nd highly robust control scheme. Due to the robustness of the scheme, the need Sor a priori information about the environment and the load i s minimal. This information can be passed on to the system in the form of upper bounds of the interaction forces and additional lends. Exper imental studies with a Pneumatic Haptic Interface (PHI) system were co nducted to evaluate the performance of the proposed scheme. We used a virtual slave with percent 25 uncertainty to verify the robustness of the controller. We have shown that the proposed scheme can accurately estimate the environmental interaction torques and can robustly track the trajectories commanded by the human operator.