Bilateral Teleoperation with Computed Torque Control for RRR Type Robot Manipulator

Year 2024, Volume: 1 Issue: 1, 26 - 32, 20.07.2024

Ammar Urgan , Janset Dasdemir

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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