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This paper presents the closed loop teleoperation of a minimal surgery training system using haptic and robot devices. The force tracking performances of system can be improved by using dynamic compensation and fuzzy control. In this system, the master is the 6-DOF haptic device and the slave is the 6-DOF serial robot. The master haptic device provides the trajectories for the slave serial robot throught...
This paper presents Model Reference Adaptive Control (MRAC) compared to Cascade PID control in order to evaluate their performances. The cascade control has an outer loop for the level control and an inner loop for flow control that can make the response faster. There the linearization technique is applied to obtain a new linear model. MRAC is designed based on Lyapunov theory and Barbalet's lemma...
A new dynamic model and impedance control algorithm of a haptic feedback device for robotic teleoperation is analyzed in this paper. User forces applied to the haptic device through human hand movements are modeled as disturbances to the control system. Detailed analysis for modeling haptic device and human hand is provided and then a self-tuning Fuzzy PID control scheme is proposed to improve system...
This paper presents the optimal design and self-tuning fuzzy PID force control of a new 6-DOF haptic device. The haptic device is designed to select the optimal lengths of links so that requirements of workspace, force transmission ratio and singular configuration are satisfied. These requirements produce a composite global design index as a multi objective function. The indexes of optimal design...
This paper presents the kinematic analysis of a new 6-DOF haptic interface and control system analysis for the tele-operation of 6-DOF serial robot. The haptic interface consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low mass moment of inertia, quick motion, big rotation, and large applied torques. Kinematics for position and differential...
This paper presents force control systems of a new 6-DOF haptic interface for a 6-DOF serial robot. The haptic interface was designed to operate with three translations and three rotations. First open loop force control is implemented to demonstrate the feed forward static force control based on Jacobian matrix. The error of open loop control can be reduced by a PD controller. However this controller...
This paper presents a remote control system of a 6 DOF underwater robot using two acoustic transducers, while radio and optical waves are not used because they are strongly attenuated in a complex environment as water. Underwater robots can be controlled by cables limited by distances, environment conditions, and not flexible. Therefore, it is necessary to develop a remote control system for underwater...
This paper presents an application of an adaptive neuro-fuzzy controller for compensating friction and disturbance effects on robot manipulators. The frictions and disturbances are important parts of the dynamic system of a robot manipulator. However, they are highly nonlinear and not easily modeled. Feedback linearization control combined with PD type fuzzy control and adaptive neural network control...
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