Results 21 to 30 of about 479 (117)
Central controller for hybrid control over network [PDF]
, 2009 In this paper, a central controller for position/force hybrid control over network is proposed. In the proposed method, the central controller receives position and force information from each plant.
Ohnishi, Kouhei +3 more
core +1 more source
Scaled bilateral teleoperation using discrete-time sliding mode controller [PDF]
, 2008 In this paper, the design of a discrete-time slidingmode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion.
Khan, Shahzad +4 more
core +3 more sources
SMC based bilateral control [PDF]
, 2007 Design of a motion control system should take into account (a) unconstrained motion performed without interaction with environment or other system, and (b) constrained motion with system in contact with environment or another system or has certain ...
Elitaş, Meltem, Şabanoviç, Asif
core +1 more source
Automated pick-up of suturing needles for robotic surgical assistance [PDF]
, 2018 Robot-assisted laparoscopic prostatectomy (RALP) is a treatment for prostate cancer that involves complete or nerve sparing removal prostate tissue that contains cancer.
Chadebecq, Francois +6 more
core +2 more sources
Sliding modes in constrained systems control [PDF]
, 2008 —In this paper, a sliding-mode-based design framework for fully actuated mechanical multibody system is discussed. The framework is based on the possibility to represent complex motion as a collection of tasks and to find effective mapping of the ...
Elitas, Meltem +4 more
core +1 more source
Delayed Trilateral Teleoperation of a Mobile Robot
Mathematical Problems in Engineering, Volume 2017, Issue 1, 2017., 2017 This paper analyzes the stability of a trilateral teleoperation system of a mobile robot. This type of system is nonlinear, time‐varying, and delayed and includes a master‐slave kinematic dissimilarity. To close the control loop, three P + d controllers are used under a position master/slave velocity strategy.
D. Santiago +3 more
wiley +1 more source
External force estimation for telerobotics without force sensor [PDF]
, 2013 This paper establishes an approach to external force estimation through the use of a mathematical model and current sensing, without employing a force/torque sensor.
Ferre Pérez, Manuel +3 more
core +1 more source
Multilateral control-based motion copying system for haptic training [PDF]
, 2014 This paper proposes a new motion-loading method that utilizes a multilateral control-based scheme for the motion-copying system. The motion-copying system refers to human operator's motion, tracks and preserves it only for being able to reproduce the ...
Katsura, Seiichiro +5 more
core +1 more source
SMC framework in motion control systems [PDF]
, 2007 Design of a motion control system should take into account both the unconstrained motion performed without interaction with environment or other system, and the constrained motion where system is in contact with environment or has certain functional ...
Arimoto +32 more
core +2 more sources
Mathematical Problems in Engineering, Volume 2014, Issue 1, 2014., 2014 This paper proposes two novel master‐slave configurations that provide improvements in both control and communication aspects of teleoperation systems to achieve an overall improved performance in position control. The proposed novel master‐slave configurations integrate modular control and communication approaches, consisting of a delay regulator to ...
Ahmet Kuzu +4 more
wiley +1 more source