Dynamics identification and control of a teleoperational system

摘要

A method is described for modeling and controlling a 2-DOF master system of a bilateral force-reflecting teleoperational device. The primary method of control involves the open-loop inversion of the system dynamics. It differs from previous methods in that: (1) it uses an experimentally derived black box nonlinear model of the system; and (2) it does not assume an infinitely stiff actuator chain in the master system (i.e., it considers the nonlinear effects of the operator on the dynamics of the chain). Preliminary results are included.