Effect of QoS Control in Remote Master-Slave Robot Systems with Force Feedback

Force Reflecting Bilateral Control of Master-Slave Systems in Teleoperation

In this paper, a simple structure design with arbitrary motion/force scaling to control teleoperation systems, with model mismatches is presented. The goal of this paper is to achieve transparency in presence of uncertainties. The master–slave systems are approximated by linear dynamic models with perturbed parameters, which is called the model mismatch. Moreover, the time delay in communicatio...

Master-slave Control for a Construction Robot Teleoperation System (evaluation of an Operation System with Video Cameras and Force Feedback)

The purpose of this study is to evaluate a construction robot master-slave teleoperation system with video cameras and force feedback based on behavioral and subjective measures. The system can provide an operator with a realistic force feeling according to the actuator condition using the velocity-driving force characteristics. The teleoperation system comprises two joysticks on the master sid...

H∞ Control for Master-slave Synchronization of Lur’e Systems with Time-delay Feedback Control

This paper deals with the problems of stability analysis and control synthesis with H∞ performance for the master-slave synchronization of Lur’e systems using a time-delay feedback control. The proposed approach consists in obtaining a new improvedH∞ robust stability criteria as well as a control law based on linear matrix inequalities (LMIs) via discretized Lyapunov–Krasovskii functional combi...

Human Behavior Modeling in Master-Slave Teleoperation with Kinesthetic Feedback

In master-slave teleoperation systems the control loop is closed through the human operator. He1 acts as a controller generating actuating signals based in visuat and kinesthetic cues. It is then indispensable to have a model of his behavior in order to design and study this type of systems coherently. Up to now only simplified arm dynamic models have been included in the study of bilateral con...

Phase Tuning in Synchronization of Nonlinear Master-slave Oscillating Systems Using Decomposition Method