Stable bilateral teleoperation with phase transition and haptic feedback

In this paper, the bilateral teleoperation with haptic feedback is studied under the phase transition between the constraint and unconstraint motions. The stability of the teleoperation with both force feedback and phase transition is proven by Lyapunov-Krasovskii method and hybrid systems theory. The conditions of the theory results are more general than the others, they are time-varying delays, nonlinear systems, force feedback, and phase transition. By using the admittance control, the application results illustrate the efficiency of the proposed control method. (c) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

Automated summary

In this study, the stability of bilateral teleoperation with haptic feedback under phase transition between constraint and unconstraint motions is proven using Lyapunov-Krasovskii method and hybrid systems theory. The conditions of the theoretical results are more general, including time-varying delays, nonlinear systems, force feedback, and phase transition. The application results demonstrate the efficiency of the proposed control method using admittance control.