Digital Library of Zielona Góra contains 63 052 digital objects
Object
Title: Stability and transparency of delayed bilateral teleoperation with haptic feedback
Contributor:
Clempner, Julio B. - ed. ; Ikonen, Enso - ed. ; Kurdyukov, Alexander P. - ed.
Subtitle:
Group publication title:
Abstract:
Haptic guidance can improve control accuracy in bilateral teleoperation. With haptic sensing, the human operator feels that he grabs the robot on the remote side. There are results on the stability and transparency analysis of teleoperation without haptic guidance, and the analysis of teleoperation with haptic feedback is only for linear and zero time-delay systems. ; In this paper, we consider more general cases: the bilateral teleoperation systems have time-varying communication delays, the whole systems are nonlinear, and they have force feedback. By using the admittance human operator model, we propose a new control scheme with the interaction passivity of the teleoperator. The stability and transparency of the master-slave system are proven with the Lyapunov-Krasovskii method. Numerical simulations illustrate the efficiency of the proposed control methods.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 29, number 4 (2019) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2019)
Last modified:
Jul 14, 2025
In our library since:
Jul 14, 2025
Number of object content hits:
33
All available object's versions:
https://www.zbc.uz.zgora.pl/publication/101032
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 29, number 1 (2019)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 29, number 2 (2019)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 29, number 3 (2019)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 29, number 4 (2019)
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| Edition name | Date |
|---|---|
| Stability and transparency of delayed bilateral teleoperation with haptic feedback | Jul 14, 2025 |
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