Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

This paper proposes a new nonlinear composite bilateral control framework for n-degree-of-freedom (n-DOF) teleoperation systems with external disturbances. Different with the existing methods which usually regard the dynamics of the master and slave robots as linear impedance models, the proposed co...

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Bibliographic Details
Main Authors: Zhenhua Zhao, Jun Yang, Cunjia Liu, Wen-Hua Chen
Format: Default Article
Published: 2018
Subjects:
Other engineering not elsewhere classified
Data models, storage and indexing
Information systems not elsewhere classified
Teleoperation system
Nonlinear bilateral control
Remote force haptic
Disturbance rejection
Nonlinear disturbance observer
Information Systems
Engineering not elsewhere classified
Data Format
Online Access:https://hdl.handle.net/2134/35025
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