There are two significant goals in teleoperation systems: Stability and performance. This paper introduces an LMI-based robust control method for bilateral transparent teleoperation systems in presence of model mismatch. The uncertainties in time delay in communication channel, task environment and model parameters of master-slave systems is called model mismatch. The time delay in communicatio...

A master-slave type remote ultrasound diagnostic system was developed. The controller has impedance control capability for the master and slave manipulators' positions. And it has a Continuous Path(CP) control capability for the slave manipula-tor's orientation. This paper presents the controller of the slave manipulator's orientation. The remote ul-trasound diagnostic system is one of remote m...

In this paper, the analysis and design of master-slave teleoperation systems are discussed. The goal of this paper is to build a superior master-slave system that can provide good maneuverability. We first analyze a one degree-of-freedom system including operator and object dynamics. Second, some ideal responses of master-slave systems are defined and a quantitative index of maneuverability ...

This paper presents a novel teleoperation scheme to control a PUMA robotic manipulator with a Phantom haptic device. Using local force control at the slave robot, contact with soft and hard surfaces is attained with high performance. The control design inserts a virtual spring between the master and slave control systems to generate the desired forces. The closed loop performance is increased b...

IMPACT OF ENDOGENOUS SLAVE FERTILITY The fertility of household slaves was not entirely outside the control of the slaveowner. Slaveowners influenced slave fertility using a variety of methods, and it is therefore inappropriate to view slave fertility as an entirely exogenous event. A valid instrument for slave fertility is not readily apparent. Under the assumption that slave fertility is corr...

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 ...

This paper presents a bilateral control scheme designed to achieve the two main goals of a teleoperation system: stability and transparency. The control scheme allows that the slave follows the master, ant that the force displayed to the operator was exactly the reaction force from the environment. In addition, the interaction force of the slave with the environment is adapted to the master/sla...