Teleoperation with Kinematically Redundant Robot Manipulators with Sub-Task Objectives

Abstract: In this paper, control of nonlinear teleoperator systems where both the master and slave systems are kine-matically redundant robot manipulators is addressed. The controller is developed under the assumption that the user and environmental input forces are unmeasurable. Lyapunov-based stability analysis is used to prove that the proposed controller yields asymptotic tracking results and ensures the coordination of the master and slave systems while satisfying a sub-task objective. Numerical simulation results are presented to illustrate the effectiveness of the proposed controller. I