Real-time adaptive control for haptic telemanipulation with Kalman active observers

This paper discusses robotic telemanipulation with Kalman active observers and online stiffness estimation. Operational space techniques, feedback linearization, discrete state space methods, augmented states, and stochastic design are used to control a robotic manipulator with a haptic device. Stif...

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Bibliographic Details
Published in:IEEE transactions on robotics 2006-10, Vol.22 (5), p.987-999
Main Authors: Cortesao, R., Jaeheung Park, Khatib, O.
Format: Article
Language:English
Subjects:
Active control
Adaptative systems
Adaptive control
Applied sciences
Compliant motion control
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Devices
Exact sciences and technology
Feedback linearization
Force measurement
Haptic interfaces
Haptics
Kalman active observers (AOBs)
Kalman filters
Manipulation
Modelling and identification
Observers
Orbital robotics
Real time
robotic manipulation
Robotics
Robots
Robust control
Robust stability
State feedback
State-space methods
Stiffness
stiffness estimation
Stochastic processes
Studies
telepresence
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Summary:This paper discusses robotic telemanipulation with Kalman active observers and online stiffness estimation. Operational space techniques, feedback linearization, discrete state space methods, augmented states, and stochastic design are used to control a robotic manipulator with a haptic device. Stiffness estimation only based on force data (measured, desired, and estimated forces) is proposed, avoiding explicit position information. Stability and robustness to stiffness errors are discussed, as well as real-time adaptation techniques. Telepresence is analyzed. Experiments show high performance in contact with soft and hard surfaces
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2006.878787