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Adaptive controller of master-slave systems for transparent teleoperation

This paper addresses the problem to achieve the stability and transparency for teleoperation in unknown or varying environments. The proposed scheme is based on an adaptive control and the position-force architecture. Without any knowledge about the parameters of the slave robot and environment dynamics, it can guarantee the robustness to the parameter uncertainties of this master robot as well as the stability of the whole teleoperation system. Numerical simulations are presented to demonstrate the transparency and robustness to the parameter uncertainties.