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Adaptive Time-Delay Force Reflective Teleoperation with Environment Impedance Estimation

Year: 1395
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COI: CBCONF01_0003
Language: EnglishView: 518
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Behzad Heydaryan - Intelligence Control Systems Lab - ECE Department Tarbiat Modares University Tehran, Iran
Mohammad T.H Beheshti - Comm. & Cont. Network Lab - ECE Department Tarbiat Modares University Tehran, Iran


This paper proposes an adaptive algorithm inwhich there is an interaction between a Linear Time Invariant(LTI) teleoperation system and a linear environment to achievemaximum transparency of the stable system. The method usesenvironment physical properties to adapt force and positionscaling factors and ensure the stability of the teleoperationsystem. Hence, environment impedance parameters that used incontrol laws are estimated. Time delay, as a basic challenge inteleoperation systems, is considered in stability analysis viaRouth criterion. Finally, taking into account time delays in thefeed-forward and feedback paths, the simulation resultsrepresent the modified tracking of force and position in masterand slave manipulators


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Heydaryan, Behzad and Beheshti, Mohammad T.H,1395,Adaptive Time-Delay Force Reflective Teleoperation with Environment Impedance Estimation,اولین کنفرانس بین المللی دستاوردهای نوین پژوهشی در مهندسی برق و کامپیوتر,Tehran,

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  • N. Hogan, "Impedance control: An approach _ manipulati on-Part I: ...
  • C. H. Cho and J. H. Park, "Impedance control with ...
  • C. Passenberg, A. Peer, and M. Buss, _ A survey ...
  • F. H. Khabbaz, A. Goldenberg, J. Drake, "An adaptive force ...
  • D. Erickson, M. Weber, and I. Sharif, "Contact Stiffhess and ...
  • Y. Liu, X. Zhang, and W. Chou, "Neural network based ...
  • Japan, pp. 843-849, August 2013. ...

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