Browsing by Subject "Teleoperation"
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Item Open Access Explicit adaptive time-delay compensation for bilateral teleoperation(IEEE, 2015) Abidi, K.; Yıldız, Yıldıray; Körpe, Bekir EmreThis paper proposes a control framework that addresses the destabilizing effect of communication time-delays and system uncertainties in telerobotics, in the presence of force-feedback. Force feedback is necessary to obtain transparency, which is providing the human operator as close a feel as possible of the environment where the slave robot is operating. Achieving stability and providing transparency are conflicting goals. This is the major reason why currently a very few, if at all, fully operational force feedback teleoperation devices exist except for research environments. The proposed framework handles system uncertainty with adaptation and communication time delays with explicit delay compensation. The technology that allows this explicit adaptive time-delay compensation is inspired by MIT's Adaptive Posicast Controller.Item Open Access Low-order controller design for haptic systems under delayed feedback(2012) Liacu, B.; Koru, A. T.; Özbay, Hitay; Niculescu, S. -I.; Andriot, C.In this paper, we consider PD controller design for haptic systems under delayed feedback. More precisely, we present a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics. Next, using two optimization techniques (H ∞ and stability margin optimization) we propose an optimal choice for the controller gains. The derived results are tested on a three degree of freedom real-time experimental platform to illustrate the theoretical results. © 2012 IFAC.Item Open Access Optimizing low-order controllers for haptic systems under delayed feedback(Elsevier, 2013-05) Liacu, B.; Koru, A. T.; Özbay, Hitay; Niculescu, S. -I.; Andriot, C.In this paper, a PD controller design for haptic systems under delayed feedback is considered. More precisely, a complete stability analysis of a haptic system where local dynamics are described by some second-order mechanical dynamics is presented. Next, using two optimization techniques (H∞ and stability, margin optimization) an optimal choice for the controller gains is proposed. The derived results are tested on a three degree-of-freedom real-time experimental platform to illustrate the theoretical results.