Among the existing technologies for hand protection, master–slave control technology has been extensively researched and applied within field of safety engineering to mitigate occurrence incidents. However, it identified through research that traditional no longer meet current production lifestyle needs, they have even begun pose new risks. To resolve risks exposed by control, this fuses hands ...

In this paper, adaptive control is proposed for master-slave teleoperation systems with dynamical uncertainties and unsymmetric time-varying delays in communication channels. With the technique of force-motion transformation based on impedance model, we can convert the objective of force reflection into motion synchronization. Using partial feedback linearization, the whole teleoperation dynami...

This paper presents a comparison among different teleoperation architectures, with respect to their performance with different control schemes. Two different control strategies are considered, a method to compensate for time-varying delays and a standard architecture without compensation. These control strategies are compared within our current operating systems and software architectures. The ...

In this study, the problem of master–slave synchronization two different chaotic systems is considered and solved under a novel set assumptions. The mathematical model each them contains unknown, constant parameters. Only single output master system available, only input slave control input. proposed, approach based on active cooperation adaptive observer controller slave. tuning function techn...

The AMBA on-chip bus architecture is a well-known open specification that explains how to connect and manage the functional units make up System-On-Chip (SoC). design implementation of an AHB Master, RAM, ROM, FIFO Memory Controller proposed in this paper. It primarily divided into two categories: operation initiator (AHB MASTER) SLAVE. Furthermore, master generate burst mode, single transfer a...

Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time controllers and continuous-time master, slave, operator, and environment. The proposed stability analysis p...

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...

A telesurgical system with reliable force feedback can extend the application range of minimally invasive surgery to more complex procedures. For medical decisions that are primarily based on touch information, such as the localisation of a tumour or hidden arteries or the quality verification of a suture, surgeons mainly rely on their stiffness perception and discrimination abilities. This wor...

In control design for bilateral telemanipulation there is a trade-off between high transparency and sufficient stability margins. Stability problems can occur when the stiff slave manipulator encounters a stiff environment and large contact forces are fed back to the badly damped master giving oscillative behaviour in the teleoperator. This is the case for the research project presented in this...