Integration of a dynamics compensator with a passivity layer in a teleoperated KUKA robot arm

Tele-manipulation allows for operators to be able to  control robots at very long range. This is useful in nuclear disaster scenarios, for example, where robots can perform rescue tasks instead of radiation-vulnerable humans.

To achieve effective tele-manipulation, many challenges present themselves in terms of controller design.

Delay in the communication between master and slave, as well as dynamics of the master and slave devices reduce the effectiveness of tele-manipulation systems.

Dynamics compensation, a widely used technique to compensate for the effect of dynamics on the master and slave system , can introduce instability into the system as these systems are active.

My research builds upon what I did for my bachelor assignment, involving the implementation of an inertia as well as a friction compensator on a KUKA LWR4+ robot arm, all the while keeping the required presence of a passivity layer in mind.