Results 71 to 80 of about 95,056 (109)

Stable multilateral teleoperation with Time Domain Passivity Approach

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
In this paper, we propose a generalized method to represent multilateral teleoperation system as an electrical network with dependent effort/flow sources which allows us to implement Time Domain Passivity Approach (TDPA) to passivate the system. Using the conventional mechanical-electrical analogy, the multilateral teleoperation system with mechanical ...
Ha Van Quang, Jee-Hwan Ryu
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Four-Channel Control Architectures for Bilateral and Multilateral Teleoperation

International Journal of Software Science and Computational Intelligence, 2011
The four-channel architecture in teleoperation with force feedback has been studied in various existing literature. However, most of them focused on Lawrence architecture and did not research other cases. This paper proposes two other four-channel architectures: passive four-channel architecture and passive four-channel architecture with operator force.
Yuji Wang, Fuchun Sun 0001, Huaping Liu 0001   +2 more
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A Systematic Review of Multilateral Teleoperation Systems

IEEE Transactions on Haptics, 2018
While conventional bilateral Single-Master/Single-Slave (SM/SS) teleoperation systems have received considerable attention during the past several decades, multilateral teleoperation is only recently being studied. Unlike an SM/SS system, which consists of one master-slave set, multilateral teleoperation frameworks involve a minimum of three agents in ...
Seyed Farokh Atashzar, Mahya Sahahbazi, Rajni V Patel   +2 more
exaly   +3 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 effectively with two hands or through collaboration than one hand or individual operation. By using
Mendez, Victor H
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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
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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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Written Communication System Based on Multilateral Teleoperation Using Time-Domain Passivity Control

2019 2nd International Conference on Communication Engineering and Technology (ICCET), 2019
This paper considers a written communication system based on a multilateral teleoperation by using time-domain passivity control. The main contribution of this paper is to apply the time-domain passivity control to our written communication system. In our written communication system, the stability is guaranteed by using the scattering matrix method ...
Yasunori Kawai
exaly   +2 more sources

Event-Triggered Fault-Tolerant Control for Nonlinear Multilateral Teleoperation System With Unknown Environmental Forces

International Journal of Robust and Nonlinear Control
ABSTRACTIn this paper, an event‐triggered fuzzy adaptive fault‐tolerant control scheme is investigated to achieve displacement synchronization and force tracking for nonlinear multilateral teleoperation systems subject to actuator faults and communication network constraints.
Jian-Ning Li
exaly   +3 more sources

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, Artigas, Jordi, Ryu, Jee-Hwan, Ferre, Manuel   +3 more
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Adaptive synchronization of multilateral teleoperation system with DoS attacks

IET Conference Proceedings
Wuliang Yin
exaly   +2 more sources