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A four-channel multilateral shared control architecture for dual-user teleoperation systems
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007This paper proposes a novel four-channel multilateral shared control architecture for dual-user teleoperation systems. The proposed control architecture is designed to allow interaction between two users as well as slave and environment through a dominance factor. The dominance factor adjusts the authority of the users over the slave robot and the task.
Behzad Khademian, Keyvan Hashtrudi-Zaad
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Mechatronics, 2018
Abstract Time delay existed in the communication channels leads to the appearance of some most challenging problems, such as decrease of stability and tracking performance, for dual-master-dual-slave (DMDS) teleoperation system. Based on the DMDS architecture, wave-variable-based method is proposed to handle those problems with the advantage of delay-
Panfeng Huang +3 more
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Abstract Time delay existed in the communication channels leads to the appearance of some most challenging problems, such as decrease of stability and tracking performance, for dual-master-dual-slave (DMDS) teleoperation system. Based on the DMDS architecture, wave-variable-based method is proposed to handle those problems with the advantage of delay-
Panfeng Huang +3 more
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2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015
Automation of repetitive tasks can improve laparoscopic surgical procedures by unloading surgeons and reducing duration, trauma, and expense. However, surgical procedures involve delicate manipulation of deformable tissues in a very dynamic environment, suggesting that automated execution of surgical tasks should be carried out under the supervision of
Kamran Shamaei +6 more
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Automation of repetitive tasks can improve laparoscopic surgical procedures by unloading surgeons and reducing duration, trauma, and expense. However, surgical procedures involve delicate manipulation of deformable tissues in a very dynamic environment, suggesting that automated execution of surgical tasks should be carried out under the supervision of
Kamran Shamaei +6 more
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2016 IEEE 55th Conference on Decision and Control (CDC), 2016
Time domain passivity control, a well known control scheme widely used for teleoperation systems, normally works under the constraint of zero division. Small force or velocity signals can cause the occurrence of zero division which ultimately leads the system to be unstable. This paper presents a novel switching time domain passivity control scheme for
Usman Ahmad, Ya-Jun Pan
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Time domain passivity control, a well known control scheme widely used for teleoperation systems, normally works under the constraint of zero division. Small force or velocity signals can cause the occurrence of zero division which ultimately leads the system to be unstable. This paper presents a novel switching time domain passivity control scheme for
Usman Ahmad, Ya-Jun Pan
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Adaptive global sliding mode control for multilateral teleoperation systems with varying-time delay
2022 IEEE 21st international Ccnference on Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2022Asma Ounissi +2 more
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International Journal of Robotics and Automation, 2023
Muhammad Usman Asad +6 more
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Muhammad Usman Asad +6 more
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