A novel adaptive bilateral control scheme using similar closed-loop dynamic characteristics of master/slave manipulators

This article presents a novel adaptive bilateral control scheme for obtaini ng ideal responses for teleoperation systems with uncertainties. A conditio n that is equivalent to getting an ideal response in teleoperation has been found to be making the closed-loop dynamics of master and slave manipulato rs a similar form. An adaptive approach is applied to achieve similarity fo r the uncertain master and slave manipulators. Using the similar closed-loo p dynamic characteristics of master/slave teleoperation systems, excellent position and force tracking performance has been obtained without estimatin g the impedance of human and environment. The validity of the theoretical r esults is verified by experiments. (C) 2001 John Wiley & Sons, Inc.