Comparison of teleoperator control architectures for palpation task

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

Volumn 2000-O, Issue , 2000, Pages 1261-1268

  Sherman, Alana ^a   Çavuşoǧlu, Murat Cenk ^a   Tendick, Frank ^b  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPLIANCE CONTROL; CONTROLLERS; OBJECT DETECTION; REMOTE CONTROL; STABILITY CRITERIA;

COMPLIANT ENVIRONMENT; CONTROL ARCHITECTURE; CONTROLLER ARCHITECTURES; FORCE-FEEDBACK; HIGH-FIDELITY; KINESTHETICS; POSITION ERRORS; POSITION FEEDBACK; TELEOPERATION CONTROLLERS; TELESURGERY;

FEEDBACK;

EID: 85119892135     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/IMECE2000-2396     Document Type: Conference Paper

References (18)

1. R. J. Anderson and M. W. Spong. Bilateral Control of Teleoperators with Time Delay. IEEE Transaction on Automatic Control, 34 (5) :494-501, May 1989.
2. R. J. Anderson and M. W. Spong. Asymptotic Stability for Force Reflecting Teleoperators with Time Delay. International Journal of Robotics Research, 11(2):135-148, April 1992.
3. M. C. Çavuşoǧlu, A. Sherman, and F. Tendick. Bilateral control design for telemanipulation of soft objects in a stiffness discrimination task. In Submitted to the 39th IEEE Conference on Decision and Control (CDC 2000), December 2000.
4. R. W. Daniel and P. R. McAree. Fundamental Limits of Performance for Force Reflecting Teleoperation. International Journal of Robotics Research, 17 (8) :811-830, August 1998.
5. H. Das, H. Zak, W. S. Kim, A. K. Bejczy, and P. S. Schenker. Operator Performace with Alternative Manual Control Modes in Teleoperation. Presence, 1 (2) :201-218, Spring 1992.
6. N. Dhruv and F. Tendick. Frequency dependence of compliance contrast detection. In Submitted to the 9th Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems as part of IMECE 2000, Nov. 2000.
7. S. A. Glantz and B. K. Slinker. Primer of Applied Regression and Analysis of Variance. McGraw-Hill, Inc., New York, USA, 1990.
8. B. Hannaford. Stability and Performance Tradeoffs in Bi-Lateral Telemanipulation. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 1764-1767, 1989.
9. B. Hannaford, L. Wood, D. A. McAffee, and H. Zak. Performance Evaluation of a Six-Axis Generalized Force-Reflecting Teleoperator. IEEE Transactions on System, Man, and Cybernetics, 21 (3) :620-633, May/June 1991.
10. Z. Hu, S. E. Salcudean, and P. D. Loewen. Robust controller design for teleoperation systems. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, volume 3, pages 2127-2132, 1995.
11. H. Kazerooni, T.-I. Tsay, and K. Hollerbach. A controller design framework for telerobotic systems. IEEE Transactions on Control Systems Technology, 1 (1) :50-62, March 1993.
12. W. S. Kim, B. Hannaford, and A. K. Bejczy. Force-Reflection and Shared Compliant Control in Operating Telemanipulators with Time Delay. IEEE Transactions on Robotics and Automation, 8(2):176-185, April 1992.
13. C. A. Lawn and B. Hannaford. Performance Testing of Passive Communication and Control in Teleoperation with Time Delay. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 776-783, 1993.
14. D. A. Lawrence. Stability and Transperancy in Bilateral Teleoperation. IEEE Transactions on Robotics and Automation, 9 (5) :624-637, October 1993.
15. G. M. H. Leung, B. A. Francis, and J. Apkarian. Bilateral controller for teleoperators with time delay via mu-synthesis. IEEE Transactions on Robotics and Automation, 11(1):105-116, February 1995.
16. G. Niemeyer and J. J. E. Slotine. Stable Adaptive Teleoperation. IEEE Journal of Oceanic Engineering, 16 (1) :152-162, January 1991.
17. J. Yan and S. E. Salcudean. Teleoperation controller design using h-infinity optimization with application to motion-scaling. IEEE Transactions on Control Systems Technology, 4 (3) :244-258, May 1996.
18. Y. Yokokohji and T. Yoshikawa. Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling-Formulation and Experiment. IEEE Transactions on Robotics and Automation, 10 (5) :605-620, October 1994.