Results 21 to 30 of about 160 (95)
Multilateral control for delayed teleoperation
2013 16th International Conference on Advanced Robotics (ICAR), 2013 This paper explores the haptic interaction between various users collaborating in performing a manipulation of an environment through telerobotic systems. In this type of interactions, mechanical energy is simultaneously exchanged between the users and the object being manipulated.
Panzirsch, Michael +3 more
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Haptic consensus in multilateral teleoperation
2008 IEEE International Symposium on Industrial Electronics, 2008 In this paper, a distributed control law is proposed for multirobot haptic teleoperation, based on consensus algorithms and acceleration control. This novel technique, called haptic consensus, enables robots on a network to agree on their accelerations, velocities and positions as well as a common force feedforward, by simply communicating the state ...
Ugur Tumerdem, Kouhei Ohnishi
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Enhancing flexibility of the dual-master-dual-slave multilateral teleoperation system
2015 IEEE Conference on Control Applications (CCA), 2015 A flexible dual-master-dual-slave teleoperation system is proposed. On the master side, a new control law with a variable dominance factor is proposed to offer the system high flexibility and ease of training. A new wave-based Time Domain Passivity Approach (TDPA) is deployed to guarantee the channel passivity and high transparency in the presence of ...
Da Sun, Fazel Naghdy, Haiping Du
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Multilateral Teleoperation Over Communication Time Delay Using the Time-Domain Passivity Approach
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
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A modular passivity framework for multilateral teleoperation applications [PDF]
, 2016 In the past few years multilateral teleoperation systems that enable the interaction and coupling of several robotic devices gained in importance as this concept promises especially an increase of ergonomics and precision in teleoperation systems. The challenge in the control of such multi-robot setups is the generalization of the stability proof ...
Panzirsch, Michael +2 more
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Multilateral Cooperative Teleoperation
, 2015 Recently, cooperation of multiple manipulators have attracted the attention of many researchers [266–307].
Zhijun Li, Yuanqing Xia, Chun-Yi Su
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Written communication system based on multilateral teleoperation using robust control
2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 This paper considers a written communication system based on a multilateral teleoperation using robust control. First, a pen equipment as an interface of the written communication system is developed. By using the pen equipment, the proposed written communication system based on sharing haptic information is indicated. Next, the non-passive approach is
Yasunori Kawai +2 more
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Passive four-channel multilateral shared control architecture in teleoperation
9th IEEE International Conference on Cognitive Informatics (ICCI'10), 2010 The stability of a force-reflecting bilateral teleoperator in the presence of time delay is solved in the former researches, and recently the four-channel architecture in teleoperation is focused by many literatures. This paper proposes a novel passive four-channel architecture (PFCA).
Yuji Wang +3 more
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A robust multilateral shared controller for dual-user teleoperation systems
2008 Canadian Conference on Electrical and Computer Engineering, 2008 This paper proposes a force-position multilateral shared control architecture for dual-user teleoperation systems that is robust stable to uncertainties in userspsila hand dynamics, environment impedance and userspsila dominance over the task. The proposed controller is evaluated for intermittent contact for different levels of dominance of the users ...
Behzad Khademian, Keyvan Hashtrudi-Zaad
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Switching time domain passivity control for multilateral teleoperation systems
2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI), 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 +2 more
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