Bilateral Teleoperation with Computed Torque Control for RRR Type Robot Manipulator

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.

Keywords

• Robot manipulators
• Haptic teleoperation
• Computed torque control.

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