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This paper proposes an analysis method about bilateral tele-operation. The bilateral tele-operation is the key technology to the tele-communication. At this point, the bilateral tele-operation treats 2 systems and each system is controlled position and force information. Thus, force information which is attained to a system affects position and force information of another system. These effects are...
This paper addresses a synchronization scheme of bilateral teleoperation systems using state observer. Utilizing state observer removes the use of force sensors, and thus enables us to reduce the hardware installation at master and slave devices. The position and velocity of master and slave devices are estimated via state observer, and these estimated states are synchronized by means of Lyapunov...
This paper presents a robust adaptive controller to achieve position tracking and unknown parameters problem in teleoperation system with time delay in communication channel. The smooth sliding mode control is added to deal with uncertainties in modeling, instead of normal sliding mode control to avoid the chattering problem. This robust adaptive control can guarantee that the system is asymptotically...
Recently, remote communication technology such as telephone, radio and television is extensively developed. Haptic information is studied as the third multimedia information. Real-world haptics is getting attention as not only the principle for feedback of real-world haptic information in teleoperation but also the key technology for future human support. In order to control haptic information, the...
Motion control has been developed in recent decades. In particular, disturbance observer encouraged the development of motion control. Disturbance observer has parameter variations such as the variations of force constant and the variations of mass. Especially, this paper focuses on nominal mass variations. The nominal mass variations of disturbance observer work as phase compensator, but the nominal...
In this paper, a personal identification method using force and position information is proposed. This paper assumes personal identification from signature. In this case, force and position information mean writing pressure and handwriting, respectively. To extract position and force information, a bilateral teleoperation system is used. Using the bilateral teleperation enables to measure both position...
Results of experimental studies of a teleoperator system with projection-based force reflection algorithms in the presence of communication constraints are presented. It is demonstrated that, using the projection-based force reflection algorithms, the admissible force reflection gain can be substantially increased without loosing the overall stability, which confirms the earlier theoretical results...
Teleoperation systems that are distributed over large physical distances where time delays become non-negligible are becoming popular in areas such as remote medicine and operating in hazardous environments. This work proposes a new approach to the bilateral control problem that extends an earlier approach [1] based on a sliding mode controller. The existing approach requires full state and force...
This paper discusses the effects of controller parameters on transparency of time delayed bilateral teleoperation systems with communication disturbance observer (CDOB). A time delay compensation method based on the concept of network disturbance (ND) and CDOB is a novel and efficient for time delay compensation of time delayed bilateral teleoperation systems. Besides, transparency is one of useful...
In this paper, creation of a new network model entitled as infinite mode networks is explained. Infinite mode networks intelligently governs any kind of systems by analyzing multi inputs and exerting multi outputs. They have a desired embedded internal function which roughly determines a route for the whole system to follow as a DNA does for biological systems. By this system, infinitely many error...
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