Rate Mode Bilateral Teleoperation Based on Passivity Tanks and Variable Admittance Control
Charlélie Saudrais Laurent Barbé Bernard Bayle Charlélie Saudrais Laurent Barbé Bernard Bayle
Bilateral teleoperation under rate mode is known to be a difficult problem in terms of stability, especially when the slave manipulator interacts with a time-varying environment. This paper presents an energy based variable admittance control approach, whose principle combines the monitoring and the regulation of the energy exchanges with a passivity tank. It allows stable interactions with force ...