Journal ArticleDOI
Stable adaptive teleoperation
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TLDR
In this article, a physically motivated, passivity-based formalism is used to provide energy conservation and stability guarantees in the presence of transmission delays, and an adaptive tracking controller is incorporated for the control of the remote robotic system and can be used to simplify, transform or enhance the remote dynamics perceived by the operator.Abstract:
A study is made of how the existence of transmission time delays affects the application of advanced robot control schemes to effective force-reflecting telerobotic systems. This application best exploits the presence of the human operator while making full use of available robot control technology and computing power. A physically motivated, passivity-based formalism is used to provide energy conservation and stability guarantees in the presence of transmission delays. The notion of wave variable is utilized to characterize time-delay systems and leads to a configuration for force-reflecting teleoperation. The effectiveness of the approach is demonstrated experimentally. Within the same framework, an adaptive tracking controller is incorporated for the control of the remote robotic system and can be used to simplify, transform, or enhance the remote dynamics perceived by the operator. >read more
Citations
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Journal ArticleDOI
Stability and transparency in bilateral teleoperation
TL;DR: It is shown that a proper use of an four channels is of critical importance in achieving high performance telepresence in the sense of accurate transmission of task impedances to the operator.
Journal ArticleDOI
Bilateral teleoperation: An historical survey
Peter Hokayem,Mark W. Spong +1 more
TL;DR: This survey addresses the subject of bilateral teleoperation, a research stream with more than 50 years of history and one that continues to be a fertile ground for theoretical exploration and many applications.
Stability Analysis of Networked Control Systems
TL;DR: Submitted in Partial Fulfillment of the Requirements for the Degree of Master of Science Electrical Engineering The University of New Mexico Albuquerque, New Mexico August, 2003 Stability Analysis of Networked Control Systems by Peter F.S.
Journal ArticleDOI
Time domain passivity control of haptic interfaces
Blake Hannaford,Jee-Hwan Ryu +1 more
TL;DR: A patent-pending, energy-based method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions and requires very little additional computation and does not require a dynamical model to be identified.
Journal ArticleDOI
Space teleoperation through time delay: review and prognosis
TL;DR: A 30-year history of research on dealing with the effects of time delay in the control loop on human teleoperation in space is reviewed, along with demonstrations of predictive displays to help the human overcome the delay.
References
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Journal ArticleDOI
Impedance Control: An Approach to Manipulation: Part I—Theory
TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
Journal ArticleDOI
On the adaptive control of robot manipulators
Jean-Jacques E. Slotine,W. Li +1 more
TL;DR: In this paper, an adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feed for the compensation part, with the unknown manipulator and payload parameters being estimated online.
Journal ArticleDOI
Robust control of dynamically interacting systems
J.E. Colgate,Neville Hogan +1 more
TL;DR: This paper describes an approach to the design of ‘interaction controllers’ and contrasts this with an Approach to the Design of Approaches toDynamic interaction with the environment is fundamental to the process of manipulation.