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Adaptive Transparent Force Reflecting Teleoperation with Local Force Compensators

This paper addresses the problems to achieve transparency and contact stability for teleoperation that consists of unconstrained and constrained motions, which are commonly seen in a construction site. The proposed teleoperator used for versatile construction operations keeps human workers from hazardous places. The adaptive bilateral control with a local force compensator is developed based on adaptive impedance control and contact force driven compensation with auto-switching functions. With an unknown slave and construction site dynamics and communication delay, the proposed method guarantees good transparency if no human error exists and low contact force to damp oscillation. Based on an actual haptic device and a virtual manipulator, haptic simulations are presented to demonstrate adaptive transparency and contact stability in the presence of communication delays.