Variable-Scale Bilateral Control for Micro Teleoperation
نویسندگان
چکیده
منابع مشابه
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...
متن کاملImpedance 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...
متن کاملBilateral 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...
متن کاملFour-Channel Control Architectures for Bilateral and Multilateral Teleoperation
The four-channel architecture in teleoperation with force feedback has been studied in various existing literature. However, most of them focused on Lawrence architecture and did not research other cases. This paper proposes two other four-channel architectures: passive four-channel architecture and passive four-channel architecture with operator force. Furthermore, two types of multilateral sh...
متن کاملAdaptive Fuzzy Logic Control for Time-Delayed Bilateral Teleoperation
In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When teleoperation is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in case of contact. When bilateral teleoperation is introduced to the field of medicine, a new challenge a...
متن کاملذخیره 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: Journal of the Robotics Society of Japan
سال: 2009
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.27.239