In this project, I implemented a parallel force and position control for bilateral teleoperation with time delay. The time delay introduced artificially, as shown in multiple publications, causes instability in the control. Therefore, a passivity based approach was used for this project. I did this as a voluntary project at Hwan-Ryu’s laboratory in Daejeon, KR. The controller used in the video below is a adaptive inverse dynamic controller. The controller allows for stable force and position control in both directions (master <-> slave).
Jordi Artigas Esclusa (2014) ‘Time domain passivity control for delayed teleoperation’ [PhD Thesis]
retrieved from: https://elib.dlr.de/113216/1/ThesisArtigasFinal.pdf
Ildar Farkhatdinov and Jee-Hwan Ryu (2007) ‘Hybrid position-position and position-speed
command strategy for the bilateral teleoperation of a mobile robot’, 2007 International Conference on Control, Automation and Systems [Preprint]. doi:10.1109/iccas.2007.4406773.