A large number of bilateral teleoperation control architectures in the literature have been designed based on assumed impedance models of the master and slave manipulators. However, hydraulic or heavily The International Journal of Robotics Research Vol. 20, No. 6, June 2001, pp. 419-445, ©2001 Sage Publications © 2001 SAGE Publications. All rights reserved. N at P http://ijr.sagepub.com Downlo...

The main subject of this paper is dealt with sensor fusion analysis for the tele operating unmanned vehicle. The whole system target is studied in context of motor control system, algorithms for the high level control of tele operating unmanned vehicle and integration with driving simulator. The master system has host computer and simulator and slave system is equipped with electronic vehicle s...

This paper presents a robust indirect model reference fuzzy control scheme for control and synchronization of chaotic nonlinear systems subject to uncertainties and external disturbances. The chaotic system with disturbance is modeled as a Takagi–Sugeno fuzzy system. Using a Lyapunov function, stable adaptation laws for the estimation of the parameters of the Takagi–Sugeno fuzzy model are deriv...

The slave robot of the macro-micro teleoperation system presented in this paper is a 1-DOF piezo actuator including hysteresis nonlinearity. This nonlinear behavior makes robot control a complex task. In this research the nonlinear and uncertain dynamics of the slave robot has been entered directly into the teleoperation control loop. The LuGre friction model is used as the estimator of the hys...

The control and functional architecture for shop floor control has been studied to manipulate shop floor resources efficiently. In a hierarchical control system, an upper level controller coordinates the activities of a group of lower level controllers in a master – slave manner. Recently, to overcome its various disadvantages, a distributed shop floor control system (SFCS) has been proposed, i...

This paper discusses the minimization of end-to-end delays in a small Bluetooth scatternet with a Slave/Slave bridge. We assume that both piconets operate under exhaustive scheduling policy, that slaves generate packet bursts, that burst arrivals follow Poisson distribution, and that the size of packet bursts follows geometric distribution. Using the theory of queues with vacations, we investig...

This paper proposes a human-assisting manipulator teleoperated by electromyographic (EMG) signals and arm motions. The proposed method can realize a new master–slave manipulator system that uses no mechanical master controller. A person whose forearm has been amputated can use this manipulator as a personal assistant for desktop work. The control system consists of a hand and wrist control part...

A large number of bilateral teleoperation control architectures in the literature have been designed based on assumed impedance models of the master and slave manipulators. However, hydraulic or heavily geared and many other manipulators cannot be properly described by impedance models. In this paper, a common four-channel bilateral control architecture designed for the above impedance models i...