Results 171 to 180 of about 365,715 (212)

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
openaire   +1 more source

Bilateral modeling in teleoperation An example in practice

2025 IEEE Conference on Telepresence
Model Mediated Teleoperation (MMT) allows high frequency interactions in the presence of communication delays by modelling the other side of the interaction. In bilaterial MMT, this modelling occurs on both sides of the interaction rather than only on the typical operator side.
Uiterkamp, Luc Schoot, Van Der Walt, Christophe, Wierzba, Alexander A., Englebienne, Gwenn, Dresscher, Douwe, Schwenninger, Felix L.   +5 more
openaire   +2 more sources

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
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

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.
openaire   +2 more sources

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

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
openaire   +1 more source

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
openaire   +3 more sources

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

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 ...
Dongjun Lee, Mark W. Spong
openaire   +2 more sources