Results 81 to 90 of about 95,056 (109)
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Haptic consensus in multilateral teleoperation
2008 IEEE International Symposium on Industrial Electronics, 2008In 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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Multilateral Cooperative Teleoperation
2015Recently, cooperation of multiple manipulators have attracted the attention of many researchers [266–307].
Zhijun Li, Yuanqing Xia, Chun-Yi Su
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Passive four-channel multilateral shared control architecture in teleoperation
9th IEEE International Conference on Cognitive Informatics (ICCI'10), 2010The 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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Analysis of Coupled Stability in Multilateral Dual-User Teleoperation Systems
IEEE Transactions on Robotics, 2014In this paper, we set out a framework for the analysis of coupled stability in dual-user linear teleoperation systems. An extension of the Zeheb–Walach (ZW) criteria for absolute stability of an $n$ -port network will be stated and proven. While the original theorem states conditions for asymptotic stability of a network terminated by passive ...
Kamran Razi, Keyvan Hashtrudi-Zaad
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Written communication system based on multilateral teleoperation using robust control
2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017This 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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Control of Multilateral Teleoperation System Based on the Generalized Wave Variables
2018 37th Chinese Control Conference (CCC), 2018In this paper, a wave-variable-based control method is proposed for time delayed multilateral teleoperation systems. A generalized wave node that connects multiple wave transmission lines at one block is introduced. It can guarantee passivity against arbitrary number of master/slave arms and arbitrary amount of constant time delay.
Yuan Tangqing, Zheng Min, Zhang Ke
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Switching time domain passivity control for multilateral teleoperation systems
2016 2nd International Conference on Robotics and Artificial Intelligence (ICRAI), 2016Time 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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A robust multilateral shared controller for dual-user teleoperation systems
2008 Canadian Conference on Electrical and Computer Engineering, 2008This 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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Micro-macro multilateral teleoperation through scaled information flow
2008 34th Annual Conference of IEEE Industrial Electronics, 2008In this paper we introduce scaled consensus algorithms for scaled cooperative teleoperation using multiple robots. First we show basic results about scaled consensus algorithms, and then derive the scaled acceleration and haptic consensus algorithms necessary for scaled teleoperation on a network, by scaling the information flow on the network. We show
U. Tumerdem, T. Shimono, K. Ohnishi
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IEEE Transactions on Fuzzy Systems, 2016
This paper addresses adaptive fuzzy control for multimaster–multislave teleoperation for multiple mobile manipulators carrying a common object in a cooperative manner that subjected to asymmetric time-varying delays and model parameter uncertainties. In the proposed control framework, a novel switched error filtering is designed.
Di-Hua Zhai, Yuanqing Xia
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This paper addresses adaptive fuzzy control for multimaster–multislave teleoperation for multiple mobile manipulators carrying a common object in a cooperative manner that subjected to asymmetric time-varying delays and model parameter uncertainties. In the proposed control framework, a novel switched error filtering is designed.
Di-Hua Zhai, Yuanqing Xia
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