Adaptive teleoperation transparency based on impedance modeling

Proceedings of SPIE - The International Society for Optical Engineering

Volumn 2901, Issue , 1996, Pages 2-12

  Heredia, Edwin A ^a   Kumar, Vijay ^b   Rahman, Tariq ^a  

^a Applied Science and Engineering Laboratories   (United States)

^b UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ELECTRIC CONVERTERS; FREQUENCY BANDS; FUNCTIONS; OPTICAL PROPERTIES; REMOTE CONTROL; TRANSPARENCY; VISUAL COMMUNICATION;

ARMA MODELING; BILATERAL TELEOPERATION SYSTEMS; CURRENT ESTIMATES; DESIGN SYSTEMS; DESIGNING SYSTEMS; FEEDBACK PATHS; NEW STRATEGIES; OUTPUT IMPEDANCES; RLS ALGORITHMS; TELE OPERATIONS; TELE PRESENCES; TRANSPARENT SYSTEMS;

ADAPTIVE ALGORITHMS;

EID: 33745968052     PISSN: 0277786X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1117/12.262997     Document Type: Conference Paper

References (6)

1. J. V. Candy, Signal Processing, The Modern Approach, McGraw Hill, 1988.
2. S. Haykin, Adaptive Filtering Theory, Prentice Hall, 1991.
3. V. Jayachandran, T. Rahman, M. Salganicoff, E. A. Heredia, W. Harwin, "Calibration of Closed Loop Controllers for Setting Impedances in Force-Reflecting Systems". Proc. Dynamic Systems and Control Division, 1996 Internat. Mech. Eng. Congress and Exposition, November, 1996.
4. D. A. Lawrence, "Stability and Transparency in Bilateral Teleoperation", IEEE Trans. on Robotics and Automation, vol. 9, No. 5, pp. 624-637, October 1993.
5. M. Salganicoff, T. Rahman, R. Mahoney, D. Pino, V. Jayachandran, V. Kumar, S. Chen, W. S. Harwin, "Head-Controlled Assistive Telerobot with Extended Physiological Proprioception Capability" SPIE Internat. Symp. on Intelligent Systems and Advance Manufacturing, Conf. on Telemanipulator and Telepresence Technologies, October, 1995.
6. S. J. Orfanidis, Optimum Signal Processing, McGraw Hill, 1988.