Teleoperation of construction machines with haptic information for underwater applications

Hirabayashi, Taketsugu; Akizono, J.; Yamamoto, Takashi; Sakai, Hiroshi; Yano, Hiroaki

doi:10.1016/j.autcon.2005.07.008

Cited by 63 publications

(19 citation statements)

References 1 publication

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“…From       (4) is asymptotically stable, and for equation (6), the right side of the inequality is :…”

Section: A'p+pa=-qmentioning

confidence: 99%

“…The paper only discussed the stability of the slave side motion with constraint. Discuss the stability of system (4) with Lyapunov stability analysis, which means analysing by establishing Lyapunov equations (6) where:…”

Section: A'p+pa=-qmentioning

confidence: 99%

“…Designing the control strategy of the bilateral servo force-feedback control system is a key link in designing tele-operation system [5,6].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Force Feedback Control of Tele-Operation Based on Electro-Hydraulic Multi-Freedom Manipulator

Gong¹,

Chen²,

Ni³

2017

Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)

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Abstract. The paper presents the control strategy to solve the problems that multiple-freedom force and displacement coupling existing in the bilateral servo force-feedback control architecture for tele-operation parallel manipulators. The control strategy transfers the values of the working resistance connected to the slave manipulator and its direction to the master side through the position space, which provides the operator with the constrained space the same as the slave side. The experimental results show that the proposed force-feedback control strategy is effective and markedly improves the manipulability for the master-slave control system.

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“…From       (4) is asymptotically stable, and for equation (6), the right side of the inequality is :…”

Section: A'p+pa=-qmentioning

confidence: 99%

Section: A'p+pa=-qmentioning

confidence: 99%

See 1 more Smart Citation

Force Feedback Control of Tele-Operation Based on Electro-Hydraulic Multi-Freedom Manipulator

Gong¹,

Chen²,

Ni³

2017

Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)

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“…Examples include 'underwater backhoe BC-3' that enables excavator works underwater, 'RoboQ' by Fujita in Japan, and 'HRP-1' by Advanced Industrial Science and Technology in Japan. In Korea, Seoul National University and Hanyang University have been conducting research and development in this field with diverse methods [3,4,5,6].…”

Section: Introductionmentioning

confidence: 99%

Proposal of Workspace Mapping Method for Conversion-less Unmanned Excavation System to Improve Operative Performance

Lee¹,

Moon²,

Gil³

et al. 2015

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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The highest incidence of disaster at a construction site is about 33.1% and this disaster occurs when an excavator is operated in dangerous site that can have rollover, confinement, and fall. The development of unmanned excavator is realized briskly for the safety of the operator from these dangers. The system to operate an excavator from a remote can be divided into conversion and mounted type. We have implemented this research about a system that has advantages of conversion and mounted type. This system enables excavators to be unmanned and remotely controlled without any renovation, remodeling, change, or transformation by applying attachable and separable mechanism and modules and this proposed system has advantages of conversion and mounted type. The system had a problem of poor operation performance due to the workspace inconsistency between remote controller and lever control robot, which produced lower speed. To improve this problem, the workspace mapping between remote controller and the robot to operate the lever of an excavator is proposed to improve the workability of excavator that is operated from a remote in this paper.

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“…have been widely applied in areas such as outer space and undersea exploration [1][2] control of construction/forestry machines of the excavator type [3], minimally invasive telesurgery [4], nuclear waste site and radioactive material management [5], and so on.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties

Liu

Tavakoli

2012

Journal of Dynamic Systems, Measurement, and Control

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Existing work concerning adaptive control of uncertain teleoperation systems only deals with linearly parameterized (LP) dynamic uncertainties. Typical teleoperation system dynamics, however, also posses terms with nonlinearly parameterized (NLP) structures. An example of such terms is friction, which is ubiquitous in the joints of the master and slave robots of practical teleoperation systems. Uncertainties in the NLP dynamic terms may lead to significant position and force tracking errors if not compensated for in the control scheme. In this paper, adaptive controllers are designed for the master and slave robots with both LP and NLP dynamic uncertainties. Next, these controllers are incorporated into the 4-channel bilateral teleoperation control framework to achieve transparency. Then, transparency of the overall teleoperation is studied via a Lyapunov function analysis. Simulation studies demonstrate the effectiveness of the proposed adaptive scheme when exact knowledge of the LP and NLP dynamics is unavailable.

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Teleoperation of construction machines with haptic information for underwater applications

Cited by 63 publications

References 1 publication

Force Feedback Control of Tele-Operation Based on Electro-Hydraulic Multi-Freedom Manipulator

Force Feedback Control of Tele-Operation Based on Electro-Hydraulic Multi-Freedom Manipulator

Proposal of Workspace Mapping Method for Conversion-less Unmanned Excavation System to Improve Operative Performance

Adaptive Control of Teleoperation Systems With Linearly and Nonlinearly Parameterized Dynamic Uncertainties

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