A forbidden-region virtual fixture (FRVF) is a constraint, implemented in software, that keeps the slave manipulator of a master/slave telemanipulation system from entering into a forbidden region of the workspace. In this paper, we consider the problem of unstable vibrations of the slave against the FRVF for a general class of telemanipulator control architectures. The master and slave equilib...

Bilateral teleoperators, designed within the passivity framework using concepts of scattering and two-port network theory, provide robust stability against constant delay in the network and velocity tracking, but cannot guarantee position tracking in general. In this paper we fundamentally extend the passivity-based architecture to guarantee state synchronization of master/slave robots in free ...

This research deals with master-slave control of a teleoperated hydraulic construction robot. In this system, the master consists of two joysticks, and the slave is the hydraulic construction robot (including the fork glove, boom, arm, and swing, driven by hydraulic actuators). In a previous research, the authors proposed a force feedback method based on position-velocity control, in which the ...

*Correspondence: [email protected] 1College of Fundamental Studies, Shanghai University of Engineering Science, Shanghai, 201620, P.R. China Full list of author information is available at the end of the article Abstract This paper investigates the lag projective synchronization and anti-synchronization problems for a general master-slave chaotic system with bounded nonlinearity. An adaptive cont...

Event based controller has been implemented to teleoperate the real mobile robot efficiently. The system consists of master haptic device, slave robot and a communication network. On master side with the help of visual aid and real time force feedback acting on the robot the operator control and navigate the robot and receive sensory feedback. Environmental force which is acting on slave robot ...

In order to achieve remote control of ultrasonic measurement system, an infrared communication-based ultrasonic measurement system is developed combining wireless communication technology with ultrasonic measurement technology. The hardware circuits of entire system and the achievement of several key technologies are discussed, including transducer structure and parameters selection, design of ...

This paper presents the analytical and experimental results on a new haptic telemanipulation environment for microrobot control. The proposed environment is comprised of a 5DOF force feedback mechanism, acting as the master, and a 2DOF microrobot, acting as the slave. The fact that the slave microrobot is driven by two centripetal force vibration micromotors makes the presented telemanipulation...

Robotic systems for master-slave teleoperation with haptic feedback capability have been used in diverse areas such as surgical simulation and telerehabilitation. Such systems have not yet been used by children with disabilities who can potentially control the master human-machine interface to sense and manipulate objects using the slave robot. This paper presents a comparison of candidate robo...

This paper presents analytical and experimental results on a new hybrid tele-manipulation environment for micro-robot control under nonholonomic constraints. This environment is comprised of a haptic telemanipulation subsystem (macro-scale motion), and a visual servoing subsystem, (micro-scale motion) under the microscope. The first subsystem includes a 5-dof (degrees of freedom) force feedback...