I. Force Sensing and Control for Teleoperation
نویسندگان
چکیده
منابع مشابه
Bilateral parallel force/position teleoperation control
The application of parallel force/position control to teleoperation systems is considered in this paper. Higher priority is given to position control at the master side and to force control at the slave side of the teleoperation system. The stability and performance of the proposed controller is investigated by analyzing the three decoupled systems obtained from projecting the closed-loop syste...
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In this paper, an adaptive motion/force control based approach is proposed to control bilateral teleoperation systems under both position and rate control with arbitrary motion/force scaling. The master and the slave are treated separately, and are subject to independent adaptive motion/force control. A model of the human operator is incorporated into the dynamics of the master robot, while a m...
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Myosin-Is are molecular motors that link cellular membranes to the actin cytoskeleton, where they play roles in mechano-signal transduction and membrane trafficking. Some myosin-Is are proposed to act as force sensors, dynamically modulating their motile properties in response to changes in tension. In this study, we examined force sensing by the widely expressed myosin-I isoform, myo1b, which ...
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The use of the Internet is no longer limited to the transmission of data. In the past few years many successful attempts have been made to use the Internet as a command transmission media; through which control can be sent to remote systems and feedback can be obtained. But with this media come several limitations: delay, lost packets and disconnection. All of these limitations may cause instab...
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In this paper, a simple structure design with arbitrary motion/force scaling to control teleoperation systems, with model mismatches is presented. The goal of this paper is to achieve transparency in presence of uncertainties. The master–slave systems are approximated by linear dynamic models with perturbed parameters, which is called the model mismatch. Moreover, the time delay in communicatio...
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ژورنال
عنوان ژورنال: IEEJ Transactions on Electronics, Information and Systems
سال: 1995
ISSN: 0385-4221,1348-8155
DOI: 10.1541/ieejeiss1987.115.10_1095