TY  - JOUR
T1  - Bilateral Teleoperation with Computed Torque Control for RRR Type Robot Manipulator
AU  - Urgan, Ammar
AU  - Dasdemir, Janset
PY  - 2024
DA  - July
Y2  - 2024
JF  - ITU Computer Science AI and Robotics
PB  - İstanbul Teknik Üniversitesi
WT  - DergiPark
SN  - 3062-2859
SP  - 26
EP  - 32
VL  - 1
IS  - 1
LA  - en
AB  - 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.
KW  - Robot manipulators
KW  - Haptic teleoperation
KW  - Computed torque control.
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UR  - https://dergipark.org.tr/tr/pub/itucsar/issue//1424418
L1  - https://dergipark.org.tr/tr/download/article-file/3678919
ER  -