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Bilateral control system has been developed as a method to transmit a tactile sense. It enables human operators to feel as if they were really touching the environment. Teleoperation with the bilateral control has a wide range of application such as telesurgery, deep-sea operation, space mission, etc. However, the presence of the communication delay between master and slave systems degrades performance...
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. Then, the central controller generates acceleration references for each plant by using a hybrid controller and a dead time compensator. As an application, bilateral control with communication delay is...
In this paper, a novel bilateral teleoperation system with communication delay is proposed. Master and slave controllers of proposed structure have compensators to deal with packet loss and communication blackout. In addition, two communication lines are used to transmit position and force information between master and slave. Proposed control structure has robustness against packet loss and communication...
Tele-surgery will be realized by bilateral robot and communication lines. The lecture will include the basis of real-world haptics on communication lines such as internet. Also it will cover possible applications in future, since this technique will enrich the vividness of the real-world and real-time information. The transmittal of force information is not easy since it is always bilateral. This...
Passivity theory is very useful for stability analysis of bilateral teleoperation. Many researchers use passivity-based stabilization method such as scattering theory or wave variables. However, passivity-based stabilization is too conservative to design a high performance teleoperation system. High performance means that human operators can feel high-accuracy reaction force from environments. In...
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