The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents a novel method— asymmetric dual-user shared control method and makes a proof of the stability conditions of the novel method with time delay. Firstly, we model the novel dual-user shared control architecture with multi-dominance factors, considering the influence between the slave and masters respectively. Then, the system is divided into three paralleling subsystems, and the system...
This paper proposes a novel control architecture for bilateral teleoperation with time delay. The proposed bilateral teleoperation system has transparency under the presence of time delay. The conventional bilateral teleoperation system cannot have transparency under time delay because the control goals are not clear and inappropriate in the presence of time delay. The proposed method utilizes the...
In this paper a new model-mediated teleoperation framework based on rate-control input is presented. The system facilitates force feedback teleoperation and is inherently robust to severe time delays yet still provides high level of rate/force tracking fidelity. Previously published methods on model-mediated teleoperation are here extended to accept rate commands and use the slave robot's programmed...
Finite time control of a teleoperation system under unknown constant time delay and parametric uncertainties is considered using terminal sliding mode and impedance control. Terminal sliding mode controller is a finite time control scheme that provides finite time convergence to the equilibrium point as well as fast response and high tracking precision in comparison with conventional sliding mode...
This paper presents a sliding mode-based impedance controller for delayed dual user teleoperation system with unknown delay. The latency which has considerable undesirable effects on system stability and performance is compensated through this control approach. The nonlinear gain of the controller is achieved independent of time delay caused by communication channels. Therefore, the necessity of measurement...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.