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This paper proposes a modified integral sliding mode based bilateral teleoperation algorithm for n-DOF nonlinear manipulators. Second-order sliding mode observer is used to estimate the states of the system as well as unknown input forces from operator and environment acting on the master and slave manipulators, respectively. In a position-force architecture, the estimated states and unknown inputs...
The wave variable method allows for stable bilateral teleoperation in the presence of time delay. However, the appearance of transient oscillations, known as wave reflections, affect teleoperation performance when using the wave variable method. The frequency characteristics of these wave reflections have been previously considered to be primarily related to the time delay across the communication...
Scaling is a technique used to transfer the dynamic motion properties of a remote device (slave robot) to the operator (master robot) or vice versa. This is a challenging task in terms of force, position, power, and impedance scaling approaches when master and slave manipulators are dissimilar. Teleoperation using scaling methods is a popular topic in motion control field, and many research papers...
This paper proposes a new adaptive method for two-channel bilateral teleoperation systems control; the control method consists of adaptive force feedback and motion command scaling factors that ensure stable teleoperation with maximum achievable transparency at every moment of operation. The method is based on the integration of the real time estimation of the robot's environment impedance with the...
This paper proposes a performance index called telepresence index for bilateral teleoperation, which can be used both for the performance evaluation of bilateral control architectures and for design purposes. This index is intended to represent a comprehensive performance objective consisting of transparency and kinematic correspondence, which are two major performance objectives of bilateral teleoperation...
This paper addresses bilateral teleoperation of a formation of car-like planetary rovers under communication delays. The mobile robots form a team using the leader-follower approach, with the leader being teleoperated by human operator via a haptic device. Communication delays present in the teleoperation channel, and as well between the leader and the followers. The haptic joystick provides the human...
This paper proposes an analysis method about bilateral tele-operation. The bilateral tele-operation is the key technology to the tele-communication. At this point, the bilateral tele-operation treats 2 systems and each system is controlled position and force information. Thus, force information which is attained to a system affects position and force information of another system. These effects are...
Among the still existing issues in bilateral teleoperation, there is the inability by force-feedback control schemes to guarantee delay-independent stability and achieve both position coordination and force reflection independently of the remote environmental dynamics. Particularly, most bilateral control frameworks fail to address position coordination when interacting with rigid environments. In...
Teleoperation systems that are distributed over large physical distances where time delays become non-negligible are becoming popular in areas such as remote medicine and operating in hazardous environments. This work proposes a new approach to the bilateral control problem that extends an earlier approach [1] based on a sliding mode controller. The existing approach requires full state and force...
Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. Wave-variable-based controllers can support the stable operation of force-reflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. We had previously proposed a modified...
This paper focuses on a new proposal system input of impedance control that relates to force reflection (FR) scheme of teleoperation with time varying in communication lines. To improve the tracking performance and transparency, the control algorithm uses one more communication channel to transfer the FR information from the master side to the slave side. Using variable damping values, the contact...
Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. However, wave-variable-based controllers can support the stable operation of force-reflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. In this paper, we present a...
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