Results 171 to 180 of about 4,497 (212)

Stable Delayed Bilateral Teleoperation of Mobile Manipulators

Asian Journal of Control, 2017
AbstractThis paper proposes a control scheme for a stable teleoperation of non‐holonomic mobile manipulator robots. This configuration presents high‐coupled dynamics and motion redundancy. The problem approached in this work is the teleoperation of the end effector velocity of the Mobile Manipulator, while system redundancy is used to achieve secondary
Santiago, Diego Daniel, Slawiñski, Emanuel, Mut, Vicente Antonio   +2 more
openaire   +3 more sources

Passive bilateral teleoperation with constant time delays

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006
We propose a novel control framework for bilateral teleoperation of a pair of multi-degree-of-freedom nonlinear robotic systems under constant communication delays. The proposed framework uses the simple proportional-derivative control, i.e., the master and slave robots are directly connected via spring and damper over the delayed communication ...
D. Lee, M.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
openaire   +1 more source

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
openaire   +2 more sources

Model Reference Bilateral Teleoperation Control

2015
The control of bilateral teleoperators is a highly active research due to the complexity of their nonlinear dynamics, the time delays in the communications as well as the wide range of practical real applications. A bilateral networked teleoperation is a networked dual-robot system exchanging sensed feedback and command signals between master and slave
Zhijun Li, Yuanqing Xia, Chun-Yi Su
openaire   +1 more source

Model-Based Bilateral Teleoperation Control

2015
A typical teleoperation system consists of a human operator, master robot, communication networks, slave robot, and environment. Teleoperation can be classified as unilateral and bilateral.
Zhijun Li, Yuanqing Xia, Chun-Yi Su
openaire   +1 more source

Reproducibility and operationality in bilateral teleoperation

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04., 2004
There are many works about bilateral teleoperation. However, good touch sense of remote object has not been realized in actual system yet. In this paper, the goals of bilateral teleoperation are considered as following two points. One is a reproduction of environmental impedance in master side.
W. Iida, K. Ohnishi
openaire   +1 more source

Impedance control schemes for bilateral teleoperation

2014 9th International Conference on Computer Science & Education, 2014
This paper first presents a review of different impedance control schemes found in the literature and discusses their applicability in bilateral teleoperation of homecare robotics. Impedance control ensures enhanced transparency by appropriately controlling the dynamic behavior between motion and applied forces in the task space of the manipulators ...
Muhammad Tufail, Clarence W. de Silva
openaire   +1 more source

Bilateral teleoperation systems using genetic algorithms

2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA), 2009
This paper presents a synchronization scheme of bilateral teleoperation systems with time delay using genetic algorithms. In general, bilateral teleoperation systems have two main goals: stability and transparency. The system can be destabilized by time delay in the communication channel between the master and the slave.
Byeong-Yeon Kim, Hyo-Sung Ahn
openaire   +1 more source

Bilateral Teleoperation Over Unreliable Communication Networks

IEEE Transactions on Control Systems Technology, 2008
In this brief, we propose a passivity-based framework for control of bilateral teleoperators under time-varying delays and data loss. The usual scattering formalism which guarantees passivity for any constant time delay is extended in several important ways to handle adverse network dynamics.
N. Chopra, P. Berestesky, M.W. Spong
openaire   +1 more source