Stable Delayed Bilateral Teleoperation of Mobile Manipulators
Sign Up to like & getrecommendations! Published in 2017 at "Asian Journal of Control"
DOI: 10.1002/asjc.1461
Abstract: This paper proposes a control scheme for a stable teleoperation of non-holonomic mobile manipulator robots. This configuration presents high-coupled dynamics and motion redundancy. The problem approached in this work is the teleoperation of the end… read more here.
Keywords: teleoperation mobile; stable delayed; delayed bilateral; teleoperation ... See more keywords
A passivity-based control strategy for nonlinear bilateral teleoperation employing estimated external forces
Sign Up to like & getrecommendations! Published in 2020 at "Journal of The Brazilian Society of Mechanical Sciences and Engineering"
DOI: 10.1007/s40430-020-02611-z
Abstract: Teleoperation systems have been presented to handle objects in environments in which the presence of operators are impracticable, unsafe or less effective. In this paper, a passive control strategy employing the new outputs to state… read more here.
Keywords: external forces; control; bilateral teleoperation; estimated external ... See more keywords
Observer-based sliding mode control for bilateral teleoperation with time-varying delays
Sign Up to like & getrecommendations! Published in 2019 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2019.07.015
Abstract: Abstract In this paper, a tracking control scheme is investigated for a bilateral teleoperation system with time-varying delays and dynamic uncertainties. The tracking control scheme is based on an extended state observer (ESO), a time-delay… read more here.
Keywords: time; control; time varying; bilateral teleoperation ... See more keywords
Transparent bilateral teleoperation interacting with unknown remote surfaces with a force/velocity observer design
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Control"
DOI: 10.1080/00207179.2017.1371338
Abstract: ABSTRACT A master–slave teleoperation system is considered, in which the slave manipulator is interacting with a rigid surface with unknown geometry. It is assumed that neither force nor velocity measurements at the slave side are… read more here.
Keywords: teleoperation interacting; velocity; teleoperation; bilateral teleoperation ... See more keywords
Prescribed performance output feedback synchronisation control of bilateral teleoperation system with actuator nonlinearities
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Systems Science"
DOI: 10.1080/00207721.2021.1921308
Abstract: This work investigates output feedback synchronisation control of uncertain bilateral teleoperation system with synchronisation error constraints, time-varying delay, actuator backlash-like hystere... read more here.
Keywords: output feedback; feedback synchronisation; synchronisation; bilateral teleoperation ... See more keywords
Motion Mappings for Continuous Bilateral Teleoperation
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3068924
Abstract: Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between local and remote workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill… read more here.
Keywords: continuous bilateral; motion mappings; bilateral teleoperation; teleoperation ... See more keywords
Two-Layer-Based Multiarms Bilateral Teleoperation Architecture
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2022.3225732
Abstract: In this article, we propose a novel bilateral teleoperation architecture for a multiarms system based on the two-layer approach. Exploiting the concept of shared energy tank, a passivity layer guarantees the passivity of the overall… read more here.
Keywords: teleoperation architecture; two layer; bilateral teleoperation; layer ... See more keywords
Dual Coordination for Bilateral Teleoperation of a Mobile Robot with Time Varying Delay
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Latin America Transactions"
DOI: 10.1109/tla.2020.9387669
Abstract: This paper proposes a P+d like control scheme and calibration guidelines addressed to achieve stable dual coordination of force and motion in a bilateral teleoperation system of a mobile robot considering time-varying delays. Different from… read more here.
Keywords: bilateral teleoperation; time; dual coordination; delay ... See more keywords
Direct Force-Reflecting Two-Layer Approach for Passive Bilateral Teleoperation With Time Delays
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2017.2769123
Abstract: We propose a two-layer control architecture for bilateral teleoperation with communication delays. The controller is structured with an (inner) performance layer and an (outer) passivity layer. In the performance layer, any traditional controller for bilateral… read more here.
Keywords: teleoperation; bilateral teleoperation; controller; approach ... See more keywords
Performance analysis in delayed nonlinear bilateral teleoperation systems by force estimation algorithm
Sign Up to like & getrecommendations! Published in 2018 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/0142331216688751
Abstract: This paper establishes a novel control strategy for a nonlinear bilateral teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the… read more here.
Keywords: force estimation; control; estimation algorithm; teleoperation ... See more keywords
Stability and Transparency of Delayed Bilateral Teleoperation with Haptic Feedback
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Applied Mathematics and Computer Science"
DOI: 10.2478/amcs-2019-0050
Abstract: Abstract Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis… read more here.
Keywords: bilateral teleoperation; teleoperation haptic; stability transparency; teleoperation ... See more keywords