Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoper...

Development of a teleoperation system means development of several subsystems, such as control devices modules, communications and graphic user interface. Each one of these components is studied, conceived, and built generally in an independent way with particular software and methods. The complexity of the system can involve a very expensive development and integration of components to complet...

This paper proposes a bilateral control framework for mobile robots which share the same workspace. The robots are teleoperated by independent users. Accordingly, for each teleoperated robot the other robots represent moving obstacles or static obstacles with a-priori unknown positions. For such teleoperation systems a velocity generator algorithm is proposed to obtain the linear and angular ve...

Even a small amount of time delay in a bilateral teleoperation system will generally degrade the system's performance and cause instability. Consequently, without some form of compensation for time delay, latencies in a teleoperation system would preclude the use of force feedback. Fortunately, there are approaches based on scattering theory and passivity that can compensate for time delay and ...

Teleoperation system performances suffer from the delays in the communications line. These delays are usually variable time delays. The customary wave variable technique used for constant time delays cannot provide satisfactory results to stabilize the system under variable delays. Another problem occurs in the position tracking performance of the limitedworkspace teleoperation systems. Althoug...

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...

Since the performance of the teleoperation systems can be considerably degraded by time-delay of communication channels and uncertainty in various parts of such systems, the main objectives of the controller design in loads of different structures of the bilateral teleoperation system are to preserve stability and tracking performance of these systems in spite of aforementioned sources of uncer...

For robot teleoperation systems, tablet and smart phone user interfaces provide portability and accessibility to allow anyone anywhere to connect to the system quickly and easily. This can be highly advantageous for disaster-relief robot systems where timing is critical. However, the small screen size and unconventional input methods mean that traditional teleoperation user interface elements, ...

This paper presents a stability analysis of force-position teleoperation under general end-effector contact. The analysis is based on the finite and infinite zero structure of the multivariable root-locus resulting from modulation of the environment stiffness. The starting point is an analysis of the stability of robot force control, motivated by the observation that the human-operator in a for...

This paper presents a novel bilateral control design scheme for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. The motivation for using pneumatic actuators in lieu of electrical actuators is that the former has higher force to mass ratio than the latter and is inert to magnetic fields, which is crucial in certain teleoperation applications such as MR...