Analysis of Control Architectures for Teleoperation Systems with                 Impedance/Admittance Master and Slave Manipulators

Hashtrudi-Zaad, Keyvan; Salcudean, Septimiu E.

doi:10.1177/02783640122067471

Cited by 315 publications

(227 citation statements)

References 32 publications

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“…Substituting v(t) from equation (21) in equation (25) yields: (27) If the gain γ is selected such that condition γ > |P(t)| is satisfied, equation (27) leads to:…”

Section: E := M Sẍ (T) + B Sẋ (T) + K Sx (T) − (−F E (T)) (20)mentioning

confidence: 99%

“…If any of the conditions is not satisfied, the network is potentially unstable. The condition in equation (33) can also be rewritten (27) as:…”

Section: Llewellyn's Criterion Conditionsmentioning

confidence: 99%

“…From equation (34), the value of the network stability parameter for a perfect transparent teleoperator can be calculated as η = 1, which means that the perfect transparent teleoperator is marginally absolutely stable. Absolute stability is applicable for linear systems (27).…”

Section: Llewellyn's Criterion Conditionsmentioning

confidence: 99%

See 2 more Smart Citations

Development of a piezo‐actuated micro‐teleoperation system for cell manipulation

Zareinejad

Rezaei

Abdullah

et al. 2009

Robotics Computer Surgery

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Background Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators.

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“…Substituting v(t) from equation (21) in equation (25) yields: (27) If the gain γ is selected such that condition γ > |P(t)| is satisfied, equation (27) leads to:…”

Section: E := M Sẍ (T) + B Sẋ (T) + K Sx (T) − (−F E (T)) (20)mentioning

confidence: 99%

“…If any of the conditions is not satisfied, the network is potentially unstable. The condition in equation (33) can also be rewritten (27) as:…”

Section: Llewellyn's Criterion Conditionsmentioning

confidence: 99%

See 1 more Smart Citation

Development of a piezo‐actuated micro‐teleoperation system for cell manipulation

Zareinejad

Rezaei

Abdullah

et al. 2009

Robotics Computer Surgery

View full text Add to dashboard Cite

show abstract

“…A haptic force is generated as an indicator to any task trajectory deviation 19,20 . This haptic force can be built upon the position error between the slave end-effector and the master (slave position error-referenced force) 21 .…”

Section: Introductionmentioning

confidence: 99%

Position referenced force augmentation in teleoperated hydraulic manipulators operating under delayed and lossy networks: A pilot study

Maddahi

Liao

Fung

et al. 2016

Robotics and Autonomous Systems

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“…Meanwhile, there are a lot of bilateral control architectures with/without time delay (13) . The most general architecture is the four-channel architecture which has four communication channels (3) .…”

Section: Introductionmentioning

confidence: 99%

Performance Analysis of a Three-Channel Control Architecture for Bilateral Teleoperation with Time Delay

et al. 2007

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This paper presents a novel three-channel control architecture for bilateral teleoperation with/without time delay. In concrete terms, this system has two transmission channels of position and force information from the master side to the slave side and one transmission channel of force information from the slave side to the master side. The master controller of the proposed three-channel teleoperation system does not include a position controller, i.e. only force control is implemented in the master side, in order to improve operationality in the master side. Fig. 1 shows a general four-channel architecture for bilateral teleoperation. In Fig. 1 s is estimated by using not a force sensor but the reaction torque observer (RTOB). T 1 denotes delay time from the master side to the slave side and T 2 denotes delay time from the slave side to the master side. C 1 , C 4 , C m and C s are position control parameters, and C 2 , C 3 , C 5 and C 6 are force control parameters.In the proposed three-channel control architecture, control parameters are set as (1)-(3).Therefore, master and slave acceleration reference values are calculated as (4) and (5)where C p (s) = K p + K v s and C f = K f are a position controller and a force controller, respectively. K p , K v and K f denote position feedback gain, velocity feedback gain and force feedback gain, respectively. Fig. 2(a), it is shown that the position responses of the master and slave robots almost perfectly tracked each other. In addition, as shown in Fig. 2(b), the operator felt little manipulating force in free motion. The validity of the proposed method was confirmed by experimental results. Kenji Natori * Student MemberKouhei Ohnishi * Senior MemberHirotaka Furukawa * * Non-memberBilateral control is one of the control methods of teleoperation systems. Human operators can feel reaction force from remote environment by means of this control scheme. This paper presents a novel control architecture for bilateral teleoperation with/without time delay. The proposed bilateral control system has three communication channels between master and slave robots. In concrete terms, this system has two transmission channels of position and force information from the master side to the slave side and one transmission channel of force information from the slave side to the master side. The master controller of the proposed three-channel teleoperation system does not include a position controller, i.e. only force control is implemented in the master side, in order to improve operationality in the master side. The three-channel controller with time delay as well as without time delay gives better performance (higher transparency) than other conventional controllers such as four-channel controllers and so on. In the proposed controller, models of a slave robot and communication time delay are not required differently from conventional methods, and robust acceleration control is achieved by using the disturbance observer (DOB). Hybrid matrices are utilized to analyze four-channel and...

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Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators

Cited by 315 publications

References 32 publications

Development of a piezo‐actuated micro‐teleoperation system for cell manipulation

Development of a piezo‐actuated micro‐teleoperation system for cell manipulation

Position referenced force augmentation in teleoperated hydraulic manipulators operating under delayed and lossy networks: A pilot study

Performance Analysis of a Three-Channel Control Architecture for Bilateral Teleoperation with Time Delay

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