Stable PD position/force control in bilateral teleoperation

This paper deals with the a admittance control in bilateral teleoperation with PD controller. In traditional PD structures, the force feedback is simply determined by the position and velocity of the master and the slave manipulators, which may induce large resistance forces to the operator even in free motion. In this paper, a novel PD bilateral controller scheme is proposed. A model-free type admittance control is applied to generate a reference signal in local site, whose parameters can be designed by human operator impedance properties. A PD controller is added in both local and remote site to achieve global stability.