Bilateral matched impedance teleoperation with application to excavator control

Salcudean, Septimiu E.; Hashtrudi-Zaad, Keyvan; Tafazoli, S.; DiMaio, Simon P.; Reboulet, C.

doi:10.1109/robot.1998.676337

Cited by 33 publications

(39 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The motivation of scattering variables from transmission line could use more discussion, and possibly introduce the concept of matched impedance (Salcudean, Hashtrudi-Zaad, Tafazoli, DiMaio, & Reboulet, 1999).…”

Section: Teleoperation: Chapters 2-4mentioning

confidence: 99%

Book review

Wen

2016

Automatica

View full text Add to dashboard Cite

Section: Teleoperation: Chapters 2-4mentioning

confidence: 99%

Book review

Wen

2016

Automatica

View full text Add to dashboard Cite

“…In impedance control, the matching of impedance parameters is sometimes used as a technique to ameliorate system transparency as done in [46,74]. It might be referred to as "impedance matching", however it is different than the one discussed in section 2.1.2 as it considers the impedance of the robot and not the wave impedance.…”

Section: Impedance Controlmentioning

confidence: 99%

Adaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation

Zhu

Gueaieb

2012

Autonomous and Intelligent Systems

View full text Add to dashboard Cite

In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact.When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller needs to be used in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft).In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller is designed in this text. It simulates human intelligence and adapts the controller to environments of different stiffness coefficients. It is compared to three other classical controllers used in the field of bilateral teleopeartion and demonstrates very interesting potential.ii Acknowledgements First and foremost I'd like to thank God for guiding me into and through this adventure. I have learned much during thesis time.With all my heart, I want to thank my parents for their continuous and unchanging love, care and support.To my dear church family and friends, thank you so much for your prayers, suggestions and encouragements throughout this time! Thank you also for constantly reminding me that thesis is not and should not be the centre of my life.Many thanks to my classmates as well, old and new, for the fun times we had together during my master's degree.I would also like to thank my supervisor Dr. Gueaieb for his support, guidance and help.iii

show abstract

“…Moreover, numerous work have applied impedance control to achieve compliant motion of a hydraulic excavator [12][13][14][15]. Impedance control provides an unified approach to both constrained and unconstrained motion by defining a desired target impedance, which therefore makes it more suitable for digging operations than hybrid position/force control approaches.…”

Section: Introductionmentioning

confidence: 99%