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
Active Disturbance Rejection Control for Teleoperation Systems with Actuator Saturation
Sign Up to like & getrecommendations! Published in 2019 at "Asian Journal of Control"
DOI: 10.1002/asjc.1767
Abstract: In this paper, stabilization of a nonlinear bilateral teleoperation system with time delays and actuator saturation is investigated via active disturbance rejection control (ADRC). An linear extended state observer is introduced to deal with the… read more here.
Keywords: rejection control; actuator saturation; teleoperation; disturbance rejection ... See more keywords
Long future frame prediction using optical flow‐informed deep neural networks for enhancement of robotic teleoperation in high latency environments
Sign Up to like & getrecommendations! Published in 2022 at "Journal of Field Robotics"
DOI: 10.1002/rob.22135
Abstract: High latency in teleoperation has a significant negative impact on operator performance. While deep learning has revolutionized many domains recently, it has not previously been applied to teleoperation enhancement. We propose a novel approach to… read more here.
Keywords: neural networks; teleoperation; high latency; prediction ... See more keywords
Dual-arm robot teleoperation support with the virtual world
Sign Up to like & getrecommendations! Published in 2020 at "Artificial Life and Robotics"
DOI: 10.1007/s10015-020-00587-6
Abstract: This paper describes the construction of an operator support system for teleoperation of dual-arm robots in the real world and the virtual world. The robot simulator Choreonoid was implemented to create a virtual space. We… read more here.
Keywords: virtual world; teleoperation; robot; dual arm ... See more keywords
Online adaptive teleoperation via motion primitives for mobile robots
Sign Up to like & getrecommendations! Published in 2019 at "Autonomous Robots"
DOI: 10.1007/s10514-018-9753-2
Abstract: Assistive teleoperation aims to help operators control robotic systems with ease. In this work, we present a novel adaptive teleoperation approach that is amenable to mobile systems using motion primitives for long-duration teleoperation, such as… read more here.
Keywords: adaptive teleoperation; teleoperation; motion primitives; mobile robots ... See more keywords
Adaptive control of bilateral teleoperation system with compensatory neural-fuzzy controllers
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-015-0309-3
Abstract: This paper presents two adaptive neural-fuzzy controllers equipped with compensatory fuzzy control in order to adjust membership functions, and as well to optimize the adaptive reasoning by using a compensatory learning algorithm. To the first… read more here.
Keywords: system; fuzzy; control; fuzzy controllers ... See more keywords
Adaptive Smith Predictor for Teleoperation of UAVs with Time-varying Internet Delay
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-019-0121-6
Abstract: Time delay in a networked control system can negatively impact the performance of the system. Dynamic networks with unknown and varying latency such as the Internet are studied. Also, experiments with teleoperation of drones and… read more here.
Keywords: adaptive smith; smith predictor; time; teleoperation ... See more keywords
Observer-based adaptive force–position control for nonlinear bilateral teleoperation with time delay
Sign Up to like & getrecommendations! Published in 2021 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2020.104679
Abstract: Abstract In this paper, a novel observer-based force control scheme is proposed to guarantee the position and force tracking in nonlinear teleoperation systems, subject to constant communication time delay. Stability of the teleoperation system is… read more here.
Keywords: control; time delay; force; teleoperation ... See more keywords
Lyapunov Stable Teleoperation Controllers Using Passivity Analysis
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DOI: 10.1016/j.ifacol.2020.06.073
Abstract: Abstract Teleoperated robots are helpful in handling distant objects, and is being increasingly relied upon in nuclear centers, space travel, etc. Control of teleoperated systems are plagued by the trade-off between its two objectives, namely… read more here.
Keywords: lyapunov stable; stable teleoperation; passivity analysis; teleoperation ... See more keywords
Bilateral motion prediction and control for teleoperation under long time-varying delays.
Sign Up to like & getrecommendations! Published in 2021 at "ISA transactions"
DOI: 10.1016/j.isatra.2021.01.015
Abstract: Bilateral controller design for the teleoperation system is studied in this paper based on a motion prediction approach. To compensate the known long time-varying delays, novel predictors are presented to reconstruct the positions and velocities… read more here.
Keywords: time varying; time; teleoperation; motion prediction ... See more keywords
Robust Observer-Based Adaptive Synchronization Control of Uncertain Nonlinear Bilateral Teleoperation Systems Under Time-varying Delay
Sign Up to like & getrecommendations! Published in 2021 at "Measurement"
DOI: 10.1016/j.measurement.2021.109542
Abstract: Abstract Due to the practical restrictions such as uncertain dynamics, external disturbances and time-varying delays and lack of enough information about the remote environment, the performance of teleoperation systems cannot be guaranteed in most cases.… read more here.
Keywords: control; nonlinear bilateral; teleoperation; time varying ... See more keywords