Abstract
This paper proposes a new bilateral control method of Single Master and Single Slave (SMSS) Tele-robot system. In this strategy, we propose a combination control method between PD and Scattering and Virtual Damping parameters to improve the tracking performance and transparency of Tele-robot, the reflecting force from slave side will be stable. Using Lyapunov technique, we can achieve the global stability of the control law. The achievement results of the proposed method are shown with the transparency improvement such as position and force between both sides of the Tele-robot system in two cases: the slave moves without any contact and the slave moves in contact with the environment. The simulation results showed the effectiveness of our proposed control method.
