This article studies the stability and performance of teleoperation systems under the effect of constant and variable time delays by employing the wave variable method. In particular, the effect of wave variables on the stability of a multi-degree-of-freedom forcereflecting system is demonstrated on a three-axis robot and initial simulation results are presented. Also, the multi-degree-of-freed...

In this paper, we examine teleoperation as a critical aspect of using mobile robotic telepresence systems. Particularly, we propose and advocate using cognitive architectures as means to ease teleoperation for novice users and to enhance social interactions.

Teleoperation technology combines the strength and accuracy of robots with perception cognition abilities human experts, allowing to work as an avatar operator in dangerous environments. The motion compatibility intuitiveness human–machine interface directly affect quality teleoperation. However, many capture methods require special working environments or need bulky mechanisms. In this researc...

Teleoperation has found much application in today’s society. While its benefits make it advantageous in many situations, teleoperation also introduces new challenges. For example, the operator is forced to work with limited sensory feedback such as that from video cameras. Second, the mapping from what the operator inputs at the master manipulandum to what the operator sees the slave robot do c...

Purpose – The objective of this study is to enhance the usage of teleoperation fields, such as in nuclear site decommissioning or nuclear waste disposal, by designing a stable, dependable and fault-tolerant teleoperation system in the face of “extraordinary” conditions. These “extraordinary” conditions can be classified as variable time delays in communications lines, usage of different robotic...

Discretisation of a stabilising continuous-time bilateral teleoperation controller for digital implementation may not necessarily lead to stable teleoperation. While previous research has focused on the question of passivity or stability of haptic interaction with a discretely simulated virtual wall, here the stability of master– slave teleoperation under discrete-time bilateral control is addr...

This paper presents a stability analysis of force-position teleoperation under general end-effector contact. The analysis is based on the finite and infinite zero structure of the multivariable root-locus resulting from modulation of the environment stiffness. The starting point is an analysis of the stability of robot force control, motivated by the observation that the human-operator in a for...

Robotic systems have been developed to handle very small objects, but their use remains complex and necessitates long-duration training. Simulators, such as molecular simulators, can provide access to large amounts of raw data, but only highly trained users can interpret the results of such systems. Haptic feedback in teleoperation, which provides force feedback to an operator, appears to be a ...

piezoelectric actuators are widely used in micro manipulation applications. however hysteresis nonlinearity limits accuracy of these actuators. this paper presents a novel approach utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. the prandtl-ishlinskii (pi) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. a pas...

This paper presents a novel bilateral control design scheme for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. The motivation for using pneumatic actuators in lieu of electrical actuators is that the former has higher force to mass ratio than the latter and is inert to magnetic fields, which is crucial in certain teleoperation applications such as MR...