ADAPTIVE CONTROLLER OF A MASTER-SLAVE SYSTEM FOR TRANSPARENT TELEOPERATION

This article presents an adaptive control scheme based on position-for ce architecture to achieve the stability and transparency for teleoper ation in unknown or varying environments. Without any knowledge about the parameters of the slave robot and environment dynamics, the propos ed scheme guarantees the robustness to the parameter uncertainties of the master robot as well as the stability of the whole teleoperation s ystem. Numerical simulations are presented to demonstrate the transpar ency and robustness to the parameter uncertainties of the master robot . Experimental results to a master-slave system show the validity of t he proposed scheme. (C) 1998 John Wiley & Sons, Inc.