Human-Oriented Control for Haptic Teleoperation

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Passive Haptic Control during Teleoperation

The basis of haptic teleoperation focuses on augmenting a user’s ability to perform a task in a remote environment. Using an energetically passive haptic master assures that the energy can only be redirected or removed from the humanmanipulator pair, guaranteeing the user’s safety. However using a passive master complicates the display of haptic forces due to the device’s limitations. The maste...

متن کامل

Robust Control for Haptic-based Robotic Teleoperation

The paper deals with teleoperated robotic systems that are commanded by a human operator via interface that provides task feedback information. In order to successfully perform challenging tasks, not only visual, but also a haptic feedback is strongly desired. Thus, such teleoperator system has to be controlled bilaterally. The paper presents a bilateral control scheme which is designed based o...

متن کامل

Haptic Interface for UAV Teleoperation

The feedback upon which operators in teleoperation tasks base their control actions, differs substantially from the feedback to the driver of a vehicle. On the one hand, there is often a lack of sensory information; on the other hand, there is additional status information presented via the visual channel. Haptic feedback could be used to unload the visual channel and to compensate for the lack...

متن کامل

Haptic teleoperation using Impedance Control with Application in Homecare Robotics

This paper presents an approach of teleoperation using impedance control for both master and slave manipulators. The 4-channel architecture with impedance control ensures enhanced transparency by appropriately controlling the dynamic behavior between motion and applied forces in the task space of the manipulators on both sides. Performance of the system is improved by using on-line estimation o...

متن کامل

A Haptic Teleoperation Approach Based on Contact Force Control

This paper presents a new teleoperation approach using a virtual spring, and local contact force control on the slave robot. The operational space framework provides the control structure needed to achieve decoupled task dynamics. A virtual spring connects the master and slave systems and a closed-loop force controller compensates for the dynamics of the slave system, rendering transparent the ...

متن کامل

ذخیره 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: Proceedings of the IEEE

سال: 2012

ISSN: 0018-9219,1558-2256

DOI: 10.1109/jproc.2011.2175150