Model-mediated teleoperation with improved stability

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Model-mediated Teleoperation with Predictive Models and Relative Tracking

This paper presents a model-mediated approach for teleoperation with haptic feedback in the presence of time delays on the order of seconds. The target application for the control scheme is teleoperation of robotic manipulators for space systems in geosynchronous orbit. Previous work in model-mediated teleoperation allowed operators to interact with a virtual model of the remote robot and envir...

متن کامل

Stability and transparency in bilateral teleoperation

ASpace applications of telerobots are characterized by significant communication delays between operator commands and resulting robot actions at a remote site. A high degree of telepresence is also desired to enable operators to safely conduct teleoperation tasks. This paper provides tools for quantifying teleoperation system performance and stability when communication delays are present. A ge...

متن کامل

Multiple Model Control for Teleoperation Under Time Delay MULTIPLE MODEL CONTROL FOR TELEOPERATION UNDER TIME DELAY

Performance and stability of bilateral teleoperation control systems are adversely affected by variations in environment dynamics and time delay in communication channel. Prior relevant research in the literature has mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. In contrast, this thesis proposes methods to deal with these two main problems ...

متن کامل

Delay-dependent stability for transparent bilateral teleoperation system: an LMI approach

There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...

متن کامل

Teleoperation 27 . Teleoperation

This chapter presents an overview of the teleoperation of robotics systems, starting with a historical background, and including the description of an up-to-date specific teleoperation scheme as a representative example to illustrate the typical components and functional modules of these systems. Some specific topics in the field are particularly discussed, for instance, control algorithms, com...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: International Journal of Advanced Robotic Systems

سال: 2018

ISSN: 1729-8814,1729-8814

DOI: 10.1177/1729881418761136