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This paper presents initial results of a set of experiments to compare time-delayed teleoperation performance of selected architectures based on two popular passivity based methods, namely, Wave Variables Transformation (WVT) and Time Domain Passivity Approach (TDPA). Five different architectures widely used and available in literature are selected: 2-channel and 3-channel for both WV and TDPA, and...
Twisted string actuator is a compliant, light, and mechanically simple module. The actuation principle is based on the contraction of the strings, where a low torque - high speed dc motor is capable of providing high forces. Such actuators are very light, quiet, compliant, mechanically simple and provide a possibility to move motors away from the actu- ating joint. Implementation of these actuators...
Inspired from the graphical interpretation of passivity in a position versus force xy graph, this paper proposes a new concept of passivation method to increase the dynamic range of impedance in which a haptic interface can passively interact. The position versus force graph represents the energy behavior in a one-port haptic interface while the haptic interface is traveling in (pressed) or out of...
Rate mode commanding together with obstacle based force feedback makes mobile robot teleoperation difficult to stabilize even without time-delay. This paper proposes a method for stable time-delayed teleoperation of a mobile robot. Rate mode teleoperation with three different types of force feedback is considered to develop generally applicable method. We reformulate mobile robot bilateral teleoperation...
The paper proposes a general network based analysis and design guidelines for teleoperation systems. The electrical domain is appealing because it enjoys proficient analysis and design tools and allows a one step higher abstraction element, the network. Thus, in order to analyze the system by means of network elements the mechanical system must be first modeled as an electric circuit. Only then power...
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