Tele-Bilateral Impedance Control for Master-Slave Systems
نویسندگان
چکیده
منابع مشابه
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...
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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...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1999
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.35.370