Bilateral controller for teleoperators with time delay via μ-synthesis

Leung, General; Francis, Bruce A.; Apkarian, Jacob

doi:10.1109/70.345941

Cited by 330 publications

(130 citation statements)

References 11 publications

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“…원격 조작 제어 연구의 역사가 (Fig. 8) (56) 슬라이딩 모드 제어 (Sliding mode control), (58) Finite spectrum assignment (59) 등 다양한 제어 기법이 제안되어 사용되었다. 1980 년대 후반에서 1990 년대 초반에 이르러서는 원격 조작 시스템을 수동성 이론을 사용하여 해석하는 시도들이 이루어졌다.…”

Section: 햅틱 안정화 제어unclassified

A Survey of Haptic Control Technology

Ryu¹,

Kim²,

Seo³

et al. 2009

Transactions of the Korean Society of Mechanical Engineers A

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Haptics technology allows one to interact with virtual environments, augmented environments, and real environments providing tactual sensory information. Science and technology of haptics can in general be classified into three groups: machine haptics, computer haptics, and human haptics. This paper surveys the state-of-the-art of haptic control technology for virtual environments and teleoperation (real environments) and then proposes possible future research directions in the following areas: haptic stability control, bilateral teleoperation control, and stability enhancement control.

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Section: 햅틱 안정화 제어unclassified

A Survey of Haptic Control Technology

Ryu¹,

Kim²,

Seo³

et al. 2009

Transactions of the Korean Society of Mechanical Engineers A

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“…In teleoperation, the delay issue becomes crucial since the external forces and torques have to be perceived with the minimum delay in order to guarantee stability and transparency in the system [39]. Appropriate algorithms must be used in order to estimate the external forces acting on the system, with a compromise between accuracy and delay.…”

Section: Robot Modellingmentioning

confidence: 99%

External Force Estimation for Teleoperation Based on Proprioceptive Sensors

Sol

King

Scott

et al. 2014

International Journal of Advanced Robotic Systems

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This paper establishes an approach to external force estimation for telerobotic control in radioactive environments by the use of an identified manipulator model and pressure sensors, without employing a force/torque sensor. The advantages of -and need forforce feedback have been well-established in the field of telerobotics, where electrical and back-drivable manipulators have traditionally been used. This research proposes a methodology employing hydraulic robots for telerobotics tasks based on a model identification scheme. Comparative results of a force sensor and the proposed approach using a hydraulic telemanipulator are presented under different conditions. This approach not only presents a cost effective solution but also a methodology for force estimation in radioactive environments, where the dose rates limit the use of electronic devices such as sensing equipment.

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“…This is a traditional bilateral controller for teleoperations, but to the best of our knowledge no one has previously presented a bilateral controller applied to a five fingers anthropomorphic robot hand. In general, in a master slave system, a time delay in communications must be considered (Leung et al, 1995), but since our system is installed in a single room, this paper takes no account of the time delay. Figure 9.…”

Section: Master Slave Systemmentioning

confidence: 99%