Bilateral Teleoperation System with Integrated Position/Force Impedance Control for Assembly Tasks

Neuro-fuzzy control of bilateral teleoperation system using FPGA

This paper presents an adaptive neuro-fuzzy controller ANFIS (Adaptive Neuro-Fuzzy Inference System) for a bilateral teleoperation system based on FPGA (Field Programmable Gate Array). The proposed controller combines the learning capabilities of neural networks with the inference capabilities of fuzzy logic, to adapt with dynamic variations in master and slave robots and to guarantee good prac...

Bilateral Matched Impedance Teleoperation with Application to Excavator Control

Impedance Control with Variable Damping for Bilateral Teleoperation under Time Delay∗

This paper proposes a new impedance controller that is to be applied to bilateral teleoperation under a time delay. The controller has a variable damping designed to achieve a good tacking performance and contact stability concurrently. The damping of the slave impedance is modulated based on the distance between the slave and its environment. The stability of the teleoperation system including...

Impedance Scalling Approach for Teleoperation Robot Control

Impedance scaling approach presented in this paper is specially developed for teleoperation robot control to meet requirements to control robots and mechatronic systems with completely different dimensions and mechanic characteristics than the human operator. It is applied to the developed RoTeMiNa robot system with 6 DOF and to the mechatronic handling device with 3 DOF for micro and nano oper...

A sliding mode-based impedance control for bilateral teleoperation under time delay ?

Several control strategies have been proposed to deal with time delay, parametric uncertainties and nonlinearities for bilateral teleoperation. Furthermore, published works had shown that sliding mode control is a viable option to deal with parametric uncertainty and hard nonlinearities. In this paper, an impedance control based on sliding mode techniques is presented, to guarantee robust track...