Results 131 to 140 of about 425 (174)

The effect of joint elasticity on bilateral teleoperation

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007
In applications such as space and surgical robotics, the use of thin, lightweight manipulators and cable-driven end- effectors results in flexibility of the manipulator. In bilateral teleoperation, however, any flexibility in a link or joint of the robot reduces the transparency of teleoperation.
Mahdi Tavakoli, Robert D. Howe
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Stability and transparency in bilateral teleoperation

[1992] Proceedings of the 31st IEEE Conference on Decision and Control, 1993
Tools for quantifying teleoperation system performance and stability when communication delays are present are provided. A general multivariable system architecture is utilized which includes all four-types of data transmission between master and slave: force and velocity in both directions.
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Bilateral haptic teleoperation of VTOL UAVs

2013 IEEE International Conference on Robotics and Automation, 2013
This paper presents an intuitive teleoperation scheme to safely operate a wide range of VTOL UAVs by an untrained user in a cluttered environment. This scheme includes a novel force-feedback algorithm that enables the user to feel the texture of the environment.
Sammy, Omari, Hua, Minh-Duc, Ducard, Guillaume, Hamel, Tarek   +3 more
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Stability of Quantized and Delayed Bilateral Teleoperators

Proceedings of the 45th IEEE Conference on Decision and Control, 2006
In this paper we address the issue of quantization in delayed bilateral teleoperators via input-to-state stability concepts and the small-gain theorem. An ultimate bound is established on the tracking error between the master and slave positions and the final velocities, based on the available resolution for quantization and magnitudes of external ...
Peter F. Hokayem, Mark W. Spong
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Stability Analysis of a Bilateral Teleoperating System

Journal of Dynamic Systems, Measurement, and Control, 1993
In this paper the stability of a control scheme for bilateral master-slave teleoperation is investigated. Given the nominal models of the master and slave dynamics, and using an approximate feedback linearization control, based on the earlier work of Spong and Vidyasagar, 1987, a robust closed-loop system (position and force) can be obtained with a ...
Strassberg, Y., Goldenberg, A. A., Mills, J. K.   +2 more
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Synchronization of bilateral teleoperators with time delay

Automatica, 2008
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Nikhil Chopra, Mark W. Spong, Rogelio Lozano   +2 more
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An application of IMPACT structure to bilateral teleoperations

49th IEEE Conference on Decision and Control (CDC), 2010
Time-delays typically cause stability and performanceproblems in teleoperation systems. As a remedy forsuch problems in position-error based bilateralteleoperations, a control algorithm is proposed which isderived as a robust modification of a Smith predictorstructure for time delay compensation. The consideredmodification is based on an application of
Denasi, A., Kostic, D., Nijmeijer, H.
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Nonlinear Bilateral Teleoperation: Stability Analysis

2009 IEEE International Conference on Robotics and Automation, 2009
This paper aims to take a first step towards the unification of the stability analysis for teleoperators with time-delays. It proposes a general Lyapunov-like function that, upon slight modification, allows to analyze the stability of different control schemes, ranging from constant to variable time delays, with or without the scattering transformation
Emmanuel Nuno, Luis Basañez
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Synchronization of Bilateral Teleoperators

2015
This chapter first studies passivity of a feedback interconnection of two passive systems under input-output time delays. It is then demonstrated that, the feedback interconnection in the presence of delays is passive under appropriate passivity conditions on the individual systems.
Takeshi Hatanaka, Nikhil Chopra, Masayuki Fujita, Mark W. Spong   +3 more
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A Bilateral Teleoperation System for Planetary Rovers

2009 International Conference on Computational Intelligence and Software Engineering, 2009
In this paper, a bilateral teleoperation system (BTS) is proposed for planetary rover remote control and operation. This is a continuation of the work presented in on computer-simulated virtual environment, that can be used as a predictive display module in the BTS.
Yu, C-Q, Ju, H-H, Gao, Y, Cui, P-Y
openaire   +3 more sources