NDLI: Achieving High Transparency in Bilateral Teleoperation Using Stiffness Observer for Passivity Control

Content Provider	IEEE Xplore Digital Library
Author	Monfaredi, R. Razi, K. Saeed Shiri Ghydari Seied Mehdi Rezaei
Copyright Year	2006
Description	Author affiliation: Dept. of Mechanical Eng., Amirkabir Univ. of Tech., Tehran (Monfaredi, R.; Razi, K.; Saeed Shiri Ghydari; Seied Mehdi Rezaei)
Abstract	In this paper a new approach is developed that increases transparency in bilateral teleoperation. We define a stiffness observer which detects hard contact instant by analyzing the generated force in the slave side to activate a passivity controller. This approach uses passivity based idea of monitoring energies flowing in and out of the teleoperator. It improves performance of previous works by eliminating instability in transition to hard contact. It also provides a more general and less conservative approach to passivity control of teleoperated systems. The performance of the new approach has been investigated through simulation results
Starting Page	1686
Ending Page	1691
File Size	5852019
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282125
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Teleoperators Intelligent robots Force control Humans Master-slave Stability Force feedback Nonlinear dynamical systems Delay effects master-salve robot teleoperation transparency passivity control force feedback
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Bilateral control of teleoperators with time delay

Bilateral control of teleoperators with time delay

A Review of Bilateral Sampled-Data Control of Teleoperators

Bilateral teleoperation by sliding mode control and reaction force observer

A time-varying wave impedance approach for transparency compensation in bilateral teleoperation

Stability and transparency in bilateral teleoperation

Teleoperation of a Mobile Robot using Predictive Control Approach

Bilateral Teleoperation Over Unreliable Communication Networks

On position tracking in bilateral teleoperation

Achieving High Transparency in Bilateral Teleoperation Using Stiffness Observer for Passivity Control

Similar Documents

Bilateral control of teleoperators with time delay

Bilateral control of teleoperators with time delay

A Review of Bilateral Sampled-Data Control of Teleoperators

Bilateral teleoperation by sliding mode control and reaction force observer

A time-varying wave impedance approach for transparency compensation in bilateral teleoperation

Stability and transparency in bilateral teleoperation

Teleoperation of a Mobile Robot using Predictive Control Approach

Bilateral Teleoperation Over Unreliable Communication Networks

On position tracking in bilateral teleoperation

Achieving High Transparency in Bilateral Teleoperation Using Stiffness Observer for Passivity Control