@article{article_1424418, title={Bilateral Teleoperation with Computed Torque Control for RRR Type Robot Manipulator}, journal={ITU Computer Science AI and Robotics}, volume={1}, pages={26–32}, year={2024}, author={Urgan, Ammar and Dasdemir, Janset}, keywords={Robot manipulators, Haptic teleoperation, Computed torque control.}, abstract={This paper presents a control mechanism designed for an RRR-type robot manipulator, Geomagic Touch Phantom Omni$^{TM}$, to track a desired reference signal. The control mechanism utilizes the computed torque control method, a nonlinear control approach. Utilizing the properties of the haptic device, a force controller is designed to allow the operator to feel the hard contact state. Since external torque or force measurements are not directly accessible, a method similar to the position-position method is used. The study used an API-based library running in the MATLAB/Simulink$^{TM}$ environment instead of a data transfer unit. Stability analysis shows that the system error dynamics are globally asymptotically stable and all signals within the closed-loop system are bounded. The applicability and performance of the proposed method are validated by experimental results. We propose a bilateral teleoperation system based on the Computed Torque Control (CTC) method that ensures safe interaction with the surroundings without assuming any prior knowledge of the surroundings.}, number={1}, publisher={İstanbul Technical University}