Passive feedforward approach to bilateral teleoperated manipulators

ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)

Volumn 2000-O, Issue , 2000, Pages 1153-1160

  Li, Perry Y ^a   Lee, Dongjun ^a  

^a University of Minnesota   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED LOOP SYSTEMS; EMPLOYMENT; HUMAN ENGINEERING; LOCKS (FASTENERS);

BILATERAL TELEOPERATED MANIPULATORS; CLOSED-LOOP SYSTEM; CONTROL OBJECTIVES; CONTROL SCHEMES; FEED FORWARD; INTERNAL ENERGIES; INTERNAL STATE; MANIPULATOR SYSTEMS; POWER-SCALING; WORK ENVIRONMENTS;

MANIPULATORS;

EID: 84944130479     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/IMECE2000-2380     Document Type: Conference Paper

References (9)

1. M. Vidyasagar. Analysis of nonlinear dynamic systems. Prentice Hall, second edition, 1993.
2. Perry Y. Li. Passive control of bilateral teleoperated manipulators. In Proceedings of the 1998 American Control Conference, pages 3838-3842, 1998.
3. J. Edward Colgate. Robust impedance shaping telemanipulation. IEEE transactions on Robotics and Automation, 9 (4) :374-384, 1993.
4. Richard J. Adams and Blake Hannaford. Two-port framework for the design of unconditionally stable haptic interfaces. In IEEE International Conference on Intelligent Robots and Systems, volume 2, pages 1254-1259, 1998.
5. Perry Y. Li and Roberto Horowitz. Passive velocity field control of mechanical manipulators. In IEEE Transaction on Robotics and Automation, 1999. To be appeared in August.
6. Perry Y. Li and Roberto Horowitz. Passive velocity field control, part 2: Application to contour following problems. In IEEE Transaction on Automatic Control, 1998. Conditionally accepted.
7. Perry Y. Li. Adaptive passive velocity field control. In Proceedings of the 1999 American Control Conference, June 1999. San Diego, CA.
8. Michael Goldfarb. Similarity and invariance in scaled bilateral telemanipulation. ASME Journal of Dynamical Systems, Measurement, and Control, 121 (l) :79-87, 1999.
9. S. Kobayashi and K. Nomizu. Foundations of differential geometry, volume 1. Willey, 1996.