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 ...
