جلد 10، شماره 3 - ( 6-1393 )                   جلد 10 شماره 3 صفحات 203-211 | برگشت به فهرست نسخه ها


XML Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Azadegan M, Ozgoli S, Taghirad H. Bilateral teleoperation control to improve transparency in stiff environment with time delay. IJEEE. 2014; 10 (3) :203-211
URL: http://ijeee.iust.ac.ir/article-1-644-fa.html
Bilateral teleoperation control to improve transparency in stiff environment with time delay. . 1393; 10 (3) :203-211

URL: http://ijeee.iust.ac.ir/article-1-644-fa.html


چکیده:   (1084 مشاهده)
This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller, where online estimation of the environment impedance is performed, and then used as the desired impedance at the master side. Numerical simulations are provided to verify the theoretical results under different conditions, such as constant and time-varying delay, obstructed environment and transitioning between soft and stiff environment. Afterwards, comparison with a recent work is addressed.
متن کامل [PDF 298 kb]   (846 دریافت)    
نوع مطالعه: Research Paper | موضوع مقاله: 3-Robotics
دریافت: ۱۳۹۲/۸/۱۹ | پذیرش: ۱۳۹۳/۷/۲ | انتشار: ۱۳۹۳/۷/۲

ارسال نظر درباره این مقاله : نام کاربری یا پست الکترونیک شما:
کد امنیتی را در کادر بنویسید

کلیه حقوق این وب سایت متعلق به می باشد.

طراحی و برنامه نویسی : یکتاوب افزار شرق

© 2015 All Rights Reserved | Iranian Journal of Electrical and Electronic Engineering

Designed & Developed by : Yektaweb