Results 31 to 40 of about 4,497 (212)
Interest of the dual hybrid control scheme for teleoperation with time delays [PDF]
, 1997 A new scheme of teleoperation called "dual hybrid control" is described. It is shown that telepresence is increased compared to traditional force feedback schemes.
Briere, Yves +2 more
core +1 more source
Bilateral Teleoperation Performance Model for Network Resource Management
IEEE Access, 2021 In the forthcoming era of the Tactile Internet, haptic communication is foreseen as one of its major use cases with impact in manufacturing, healthcare, education, as well as the service industry.
Konstantinos Antonakoglou +2 more
doaj +1 more source
Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach
Journal of Robotics, 2018 The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC) design of linear teleoperation system with time delays, and the stability of the ...
Yuling Li
doaj +1 more source
Advanced Finite-Time Control for Bilateral Teleoperators With Delays and Uncertainties
IEEE Access, 2021 In this paper, a finite-time control method is presented for bilateral teleoperators to ensure coordination of the master and slave manipulators in the presence of time-varying delays, external disturbances, and dynamic uncertainties.
Tinh-Van Nguyen, Yen-Chen Liu
doaj +1 more source
Model following control with discrete time SMC for time-delayed bilateral control systems [PDF]
, 2011 This paper proposes a new algorithm based on model following control to recover the uncompensated slave disturbance on time delayed motion control systems having contact with environment.
Baran, Eray Abdurrahman +6 more
core +1 more source
Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback
International Journal of Applied Mathematics and Computer Science, 2019 Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side.
Estrada Edgar, Yu Wen, Li Xiaoou
doaj +1 more source
IEEE Access, 2019 Good transparency performance (e.g., position tracking and force feedback) is an important issue in the control design of teleoperation systems. The four-channel architecture has advantages in the achievement of good transparency performance for ...
Jianzhong Tang +5 more
doaj +1 more source
Bilateral Teleoperation Control Without Velocity Measurements
IFAC Proceedings Volumes, 2011 This paper presents two controllers for a nonlinear bilateral teleoperation system that do not rely on velocity measurements. Under the reasonable assumptions that the human operator and the environment define passive maps from force to velocity, both controllers can ensure boundedness of velocities and position error.
Nuño Ortega, Emmanuel +3 more
openaire +2 more sources
Reset Control for Passive Bilateral Teleoperation
IEEE Transactions on Industrial Electronics, 2011 Abstract—Communication delays are problematic for teleoperated systems. They give rise to a trade-off between speed and robustness, which cannot be overcome by means of linear controllers. In order to solve this problem, in this paper we present a novel approach that combines passivity-based techniques and reset control ...
Villaverde, Alejandro Fernndez +3 more
openaire +2 more sources
Two-Layer-Based Multiarms Bilateral Teleoperation Architecture
IEEE Transactions on Control Systems Technology, 2023 In this article, we propose a novel bilateral tele- operation architecture for a multiarms system based on the two-layer approach. Exploiting the concept of shared energy tank, a passivity layer guarantees the passivity of the overall architecture with respect to destabilizing factors such as time delays in the communication channel.
Marco Minelli +5 more
openaire +2 more sources