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Because of their simplicity, wave variables have become almost a standard strategy for stabilizing delayed bilateral teleoperation systems. However, the price to pay for a stable behavior is a degradation in the performance of the teleoperation system. Recently, more flexible and transparency oriented bilateral architectures have been proposed (e.g. TDPN, PSPM, Two-Layer approach) but they are complex...
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...
In this paper, new sets of desired objectives will be introduced for dual user systems. It will be shown that the existing set of objectives leads to eliminate the effect of dominance factor from the picture, while this is an important factor in dual user system. Consequently, in this paper, two sets of desired objective containing the dominance factor are presented, which can be used in variety of...
In this paper, a novel decentralized multilateral structure is proposed for the dual user systems in the presence of communication delay. The proposed structure utilizes adaptive impedance control approach in order to overcome the destructive effect of the time-delay on system desired-objectives, which is a disregarded issue in the previous studies on dual user system. The proposed control strategy,...
Bilateral control robots are one of the master-slave teleoperation robots. The Bilateral control robot achieves communication of force sensation between master system and slave system. As one of the bilateral control systems, a three-channel bilateral control system was proposed. The three-channel bilateral control system has only three communication channels and the position information is transmitted...
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