Results 161 to 170 of about 365,715 (212)
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Bilateral teleoperation through the Internet
Robotics and Autonomous Systems, 2007This paper proposes a stable control structure for the bilateral teleoperation of robots through Internet. The problem is motivated by the increasing use of the Internet as a communication channel. Internet has a time-varying delay which depends on factors such as congestion, bandwidth and distance.
Emanuel Slawiñski +2 more
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Thermal bilateral coupling in teleoperators
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005This paper presents a new method and formalism to achieve thermal feedback for teleoperation and telepresence applications. The basic idea is to realize an approach similar to force reflecting telerobotics. That is to say, bilateral coupling between thermal temperature and thermal flux variables.
Abdelhamid Drif +2 more
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Bilateral teleoperation of mobile robots
Robotica, 2002A control structure for the bilateral teleoperation of mobile robots, with tactile feedback and visual information of the interaction force is proposed in this paper. Also an impedance controller is implemented in the mobile robot structure that guarantees the linear velocity be within a desired fixed range without saturation in the actuators.
Vicente A. Mut +3 more
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On tracking performance in bilateral teleoperation
IEEE Transactions on Robotics, 2006This paper addresses the problem of steady-state position and force tracking in bilateral teleoperation. Passivity-based control schemes for bilateral teleoperation provide robust stability against network delays in the feedback loop and velocity tracking, but do not guarantee steady-state position and force tracking in general.
Nikhil Chopra +3 more
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Haptic Aids for Bilateral Teleoperators
2014Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between workspaces, the need to avoid collisions of the teleoperated robot with the environment, and the use of the inverse kinematics ...
Pérez Ruiz, Alexander +1 more
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On position tracking in bilateral teleoperation
Proceedings of the 2004 American Control Conference, 2004This paper addresses the problem of position tracking in bilateral teleoperation. Passivity based control schemes for bilateral teleoperation provide robust stability against network delays in the feedback loop and velocity tracking, but do not guarantee position tracking in general.
Nikhil Chopra +3 more
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Switching Robust Control for Bilateral Teleoperation
IEEE Transactions on Control Systems Technology, 2016The inherent transparency-stability tradeoff in bilateral teleoperation poses a challenge to design controllers that find a proper balance between both requirements. Furthermore, when the environment of the teleoperation system varies within a large range, a single controller might not be sufficient to achieve both stability and high performance.
Cesar A. Lopez Martinez +3 more
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Stability and transparency in bilateral teleoperation
[1992] Proceedings of the 31st IEEE Conference on Decision and Control, 1993Tools 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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The effect of joint elasticity on bilateral teleoperation
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007In 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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Stabilization of bilateral teleoperators with asymmetric stochastic delay
Systems & Control Letters, 2021zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Francesco Giuseppe Cordoni +2 more
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