Transparent Bilateral Teleoperation under Position and Rate Control

Salcudean, Septimiu E.; Zhu, Ming–Sheng; Zhu, Wen-Hong; Hashtrudi-Zaad, Keyvan

doi:10.1177/02783640022068020

Cited by 89 publications

(52 citation statements)

References 29 publications

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“…According to [25], at low frequencies, near-transparency can be obtained by ignoring the inertial terms in the expressions for C 1 and C 4 in which case the original control design (12) is modified to …”

Section: Euclidean Distance Calculationmentioning

confidence: 99%

See 1 more Smart Citation

Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves

Pham

Tavakoli

et al. 2013

IEEE Trans. Contr. Syst. Technol.

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Abstract-In past research on the control of pneumatic actuators, typically proportional servovalves have been used for achieving high-performance control of the mass flow rate. In this paper, we instead use fast-switching on/off valves due to their distinct advantages in terms of low cost and small size. Accurate control of pneumatic actuators with on/off solenoid valves is a challenge since the system dynamics is both discrete-input and highly nonlinear. In this paper, we apply a hybrid control algorithm to a pneumatic actuator with on/off valves. Such a control approach is developed for choosing the best control vector at each sample time to track the reference state (i.e., desired force) in the inner force control loop within a bilateral teleoperation system. Experimental results show that good teleoperation transparency is achieved despite all the obstacles such as discrete-input and nonlinear behavior of the pneumatic-actuated teleoperation system.

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Section: Euclidean Distance Calculationmentioning

confidence: 99%

“…A complete discussion of the hybrid matrix analysis can be found in [14], [25]. In this representation, 11 12 21 22…”

Section: ) Frequency Domain Analysismentioning

confidence: 99%

Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves

Pham

Tavakoli

et al. 2013

IEEE Trans. Contr. Syst. Technol.

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“…In [6], a priori knowledge of the environmental inputs to the slave system is required to achieve the transparency control objective. Controllers aiming at low-frequency transparency were suggested in [9], [14], and [31]. Frequency-based control designs given in [6], [9], [10], [14], and [31] are for linear teleoperator systems.…”

Section: Introductionmentioning

confidence: 99%

“…Controllers aiming at low-frequency transparency were suggested in [9], [14], and [31]. Frequency-based control designs given in [6], [9], [10], [14], and [31] are for linear teleoperator systems. The concept of the four-channel architecture, which assumes knowledge of system impedances was introduced by the authors of [14] and [37].…”

Section: Introductionmentioning

confidence: 99%

Coordination Control for Haptic and Teleoperator Systems

Tatlicioglu¹,

McIntyre²,

Dawson³

et al. 2006

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Abstract:In this paper, two controllers are developed for nonlinear haptic and teleoperator systems for coordination of the master and slave systems. The Þrst controller is proven to yield a semi-global asymptotic result in the presence of parametric uncertainty in the master and the slave dynamic models provided the user and the environmental input forces are measurable. The second controller yields a global asymptotic result despite unmeasurable user and environmental input forces provided the dynamic models of the master and slave are known. These controllers rely on a transformation and a ßexible target system to allow the master system's impedance to be easily adjusted so that it matches a desired target system. This work also offers a structure to encode a velocity Þeld assist mechanism to provide the user help in controlling the slave system in completing a pre-deÞned contour following task. For each controller, Lyapunovbased techniques are used to prove that both controllers provide passive coordination of the haptic/teleoperator system when the velocity Þeld assist mechanism is disabled. When the velocity Þeld assist mechanism is enabled, the analysis proves the coordination of the haptic/teleoperator system. Simulation results are presented for both controllers.

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“…Various researchers demonstrated that transparency, as given in (3.1), can be achieved by a combination of controllers that satisfy (3.3), using 2 − 4 channels, [51], [100], [45].…”

Section: 1mentioning

confidence: 99%

On autonomous and teleoperated aerial service robots

Mersha¹

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Transparent Bilateral Teleoperation under Position and Rate Control

Cited by 89 publications

References 29 publications

Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves

Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves

Coordination Control for Haptic and Teleoperator Systems

On autonomous and teleoperated aerial service robots

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