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Paper
Title

Adaptive Time-Delay Force Reflective Teleoperation with Environment Impedance Estimation

Year: 1395
Publish place:

COI: CBCONF01_0003
Language: EnglishView: 518
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Authors

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

Abstract:

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

Keywords:

Paper COI Code

This Paper COI Code is CBCONF01_0003. Also You can use the following address to link to this article. This link is permanent and is used as an article registration confirmation in the Civilica reference:

https://civilica.com/doc/496460/

How to Cite to This Paper:

If you want to refer to this Paper in your research work, you can simply use the following phrase in the resources section:
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,https://civilica.com/doc/496460

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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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Scientometrics

The specifications of the publisher center of this Paper are as follows:
Type of center: دانشگاه دولتی
Paper count: 35,198
In the scientometrics section of CIVILICA, you can see the scientific ranking of the Iranian academic and research centers based on the statistics of indexed articles.

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