A multi-master / single-slave teleoperation system

ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012

Volumn 3, Issue , 2012, Pages 107-112

  Shahbazi, M ^a   Atashzar, S F ^a   Talebi, H A ^b   Patel, R V ^a  

^a UNIVERSITY OF WESTERN ONTARIO   (Canada)

^b AMIRKABIR UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

[No Author keywords available]

Indexed keywords

IMPEDANCE-BASED CONTROL; SMALL GAIN THEOREM; SURGICAL TRAINING; TELE-OPERATED SYSTEMS; TELEOPERATION SYSTEMS; TRAINING APPLICATIONS; UNKNOWN COMMUNICATION DELAYS; UNKNOWN TIME DELAYS;

REMOTE CONTROL; RENEWABLE ENERGY RESOURCES; ROBUST CONTROL; STOCHASTIC CONTROL SYSTEMS; SURGERY; SYSTEM STABILITY;

ROBOTICS;

EID: 84885939168     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DSCC2012-MOVIC2012-8714     Document Type: Conference Paper

References (18)

1. C Melchiorri and A Eusebi, "Telemanipulation: System aspects and control issues", Model Cont Mechan Robot, pp.149-183, 1996.
2. M Tavakoli, R.V Patel, M Moallem, A Aziminejad, Haptics for Teleoperated Surgical Robotic Systems, New Frontiers in Robotics series, World Scientific.
3. D Lawrence, "Stability and transparency in bilateral teleoperation", IEEE Trans Robot Automat., vol 9, pp 624-637, October 1993.
4. K Hashtrudi-zaad and S Salcudean, "Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators," Int J Robot Res., vol 20, no 6, pp 419-445, 2001
5. P F Hokayem and M W Spong, "Bilateral teleoperation: An historical survey," Automatica, vol 42, pp 2035-2057, 2006.
6. S Sirouspour and P Setoodeh, "Adaptive nonlinear teleoperation control in multi-master/multi-slave environment", IEEE Conf on Control Applications, pp 1263-1268,2005
7. B Chebbi, D Lazaroff, F Bogsany, P X Liu, L Ni, and M Rossi, "Design and implementation of a collaborative virtual haptic surgical training system," IEEE Int Conf on Mechat and Auto., Vol 1, pp 315-320, 2005.
8. S.S Nudehi, R Mukherjee, and M Ghodoussi, "A shared-control approach to haptic interface design for minimally invasive telesurgical training ", IEEE Trans on Cont Sys Tech.,vol 13, pp 588-592, 2005.
9. B Khademian and K Hashtrudi-Zaad, "A four-channel multilateral shared control architecture for dual-user teleoperation systems," IEEE/RSJ Int Conf Intell Robots Syst., Oct 29-Nov 2, 2007, pp 2660-2666.
10. B Khademian and K Hashtrudi-Zaad, "A Robust Multilateral Shared Controller for Dual-User Teleoperation Systems," Control and Robotics Symposium of the 2008 IEEE Canadian Conference on Electrical and Computer Engineering pp 1871-1876.
11. R J Anderson and M W Spong, "Bilateral control of teleoperators with time delay," IEEE Trans on Automatica cont., vol 34, pp 294-501, 1989.
12. M Shahbazi, H A Talebi and F Towhidkhah, "A Robust Control Architecture for Dual User Teleoperation System with Time-Delay", 36th Annual Conf of the IEEE Industrial Electronics Society, 2010.
13. M Shahbazi, H.A Talebi, M.J Yazdanpanah, "A Control Architecture for Dual User Teleoperation with Unknown Time Delays: A Sliding Mode Approach", IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2010.
14. M Shahbazi, H.A Talebi, S.F Atashzar, F Towhidkhah, R.V Patel, S Shojaei, "A novel shared structure for dual user systems with unknown time-delay utilizing adaptive impedance control", IEEE International Conf on Robotics and Automation (ICRA), 2011.
15. L Sciavicco and B Siciliano, Modelling and control of Robot Manipulators Berlin, Germany: Springer-Verlag, 2000.
16. A Shahdi and S Sirouspour, "Adaptive/Robust Control for Time-Delay Teleoperation," IEEE Trans on Robotics, vol 25, no 1, 2009.
17. I G Polushin, H.J Marquez, A Tayebi, P.X Liu, "A Multichannel IOS Small Gain Theorem for Systems with Multiple Time-Varying Communication Delays," IEEE Trans on Automatic Control, 2009.
18. S.F Atashzar, I.G Polushin, R.V Patel, "Networked Teleoperation with Non-Passive Environment: Application to Tele-Rehabilitation," submitted to 2012 IEEE/RSJ Int Conf on Int Rob and Sys (IROS12).