Passive bilateral control of a teleoperation system considering hysteresis nonlinearity of slave robot

Research output: Chapter in Book/Report/Conference proceedingConference contribution


  • Reza Seifabadi
  • Seyed Mehdi Rezaei
  • Saeed Shiry
  • Mohammad Zarei-Nejad
  • Kamran Razi
  • Hossein Habibollahi

Colleges, School and Institutes

External organisations

  • Amirkabir University of Technology
  • School of Mechanical and Manufacturing Engineering
  • Univ. of Tehran


The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hysteresis loop to cancel out this undesirable term. A 2-DOF master-slave system is decomposed into two 1-DOF systems: a shape system representing the master-slave position coordination, and a locked system representing the dynamics of the coordinated system. For making the closed-loop teleoperation system passive against dynamic parameter uncertainty and force measurement inaccuracy, four virtual flywheels are designed. In this way, the energy generated by troublesome terms inside controllers (i.e. the terms which may endanger passivity of the controller) would be taken from the bounded kinetic energy deposited on these flywheels. Simulations are performed to show effectiveness of the proposed controllers.


Original languageEnglish
Title of host publicationHaptics
Subtitle of host publicationPerception, Devices and Scenarios - 6th International Conference, EuroHaptics 2008, Proceedings
Publication statusPublished - 2008
Event6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008 - Madrid, Spain
Duration: 10 Jun 200813 Jun 2008

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5024 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference6th International Conference on Haptics: Perception, Devices and Scenarios, EuroHaptics 2008


  • decomposition, Hysteresis, LuGre model, macro-micro telemanipulation, robust passivity, scaling, shape and locked system, virtual flywheel