Results 1 to 10 of about 479 (117)
A Time Domain Passivity Approach for Asymmetric Multilateral Teleoperation System
IEEE Access, 2018 Time-domain passivity control (TDPC) is a widely used reliable approach to ensure the stability of the teleoperation systems. Although TDPC almost guarantees the stability of the system, there can be a possibility of instability as TDPC inherits the zero
Usman Ahmad, Ya-Jun Pan
doaj +4 more sources
An Extended State Convergence Architecture for Multilateral Teleoperation Systems
IEEE Access, 2017 State convergence is a novel scheme to control a teleoperation system in a bilateral mode. Starting from modeling an nth order teleoperation system on state space, the scheme offers a simple and elegant procedure, which requires 3n+1 design conditions to
Umar Farooq +4 more
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Multilateral Teleoperation Over Communication Time Delay Using the Time-Domain Passivity Approach [PDF]
IEEE Transactions on Control Systems Technology, 2020 A general framework to stabilize multilateral teleoperation system over a communication time delay based on the well-known time-domain passivity approach (TDPA) is proposed. The uniqueness of this framework is that it is independent of the amount of communication time delay, the multilateral control architecture, and the number of masters and slaves ...
Jee-Hwan Ryu, Quang Ha-Van, Aghil Jafari
core +5 more sources
Adaptive Fuzzy Controller Design for Uncertain Robotic Manipulators Subject to Nonlinear Dead Zone Inputs. [PDF]
Comput Intell Neurosci, 2022 This paper comes up with the adaptive fuzzy scheme for multi‐degree robotic manipulators with dead zone. Fuzzy logic system is employed to approximate unknown nonlinear functions and input nonlinear functions with dead zones that are introduced. The adaptive fuzzy technique is utilized to deal with the problems of multi‐joint robotic manipulators with ...
Zhang H.
europepmc +2 more sources
Multi-Lateral Teleoperation Based on Multi-Agent Framework: Application to Simultaneous Training and Therapy in Telerehabilitation [PDF]
Frontiers in Robotics and AI, 2020 In this paper, a new scheme for multi-lateral remote rehabilitation is proposed. There exist one therapist, one patient, and several trainees, who are participating in the process of telerehabilitation (TR) in this scheme. This kind of strategy helps the
Iman Sharifi +3 more
doaj +2 more sources
Multilateral teleoperation under asymmetric time delays: stability and robustness [PDF]
International Journal of Advanced Robotic Systems, 2017 Multilateral teleoperation is the general name given to haptic teleoperation with multiple robots and operators. It is the generalization of two robot bilateral teleoperation systems to N robots.
Ugur Tumerdem
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Data-Driven Impedance Matching in Multilateral Teleoperation Systems [PDF]
Indonesian Journal of Electrical Engineering and Computer Science, 2018 <span lang="EN-US">This paper addresses a tuning approach to improve transparency between master and slave manipulators in a multilateral teleoperation system. The slave manipulators comprised of multi-agents of simple mass are converted into a bilateral system through the passive decomposition technique.
Mohd Syakirin Ramli, Hamzah Ahmad
openaire +4 more sources
Stability of Multilateral Haptic Teleoperation Systems [PDF]
, 2013 Multilateral systems involving haptic information sharing between several users have recently found interesting applications in cooperative haptic teleoperation and haptic-assisted training. It is intuitively understood that some tasks are performed more
Mendez, Victor H
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Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays [PDF]
Journal of Sensors, 2016 A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays.
Sun, D, Naghdy, F, Du, H
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Normalized passivity control for robust tuning in real‐time hybrid tests
International Journal of Robust and Nonlinear Control, Volume 32, Issue 7, Page 4355-4375, 10 May 2022., 2022 Abstract Real‐time hybrid testing involves the separation of a system into an experimental component and a numerically simulated substructure which are coupled and run together. The coupling between substructures is achieved using actuators and force sensors which comprise the transfer system. Close synchronization is required between substructures for
Lokukankanamge Dushyantha Hashan Peiris +2 more
wiley +1 more source