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2011-06-21
In a bilateral teleoperation system, conditions involving open-loop model parameters and controller parameters for ensuring teleoperator passivity are useful as control design guidelines to attain maximum teleoperation transparency (due to passivity/transparency tradeoffs). By teleoperator, we...
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2013-01-01
Matthew Dyck, Ali Jazayeri, Mahdi Tavakoli
Conventional approaches for stability analysis of bilateral teleoperation systems assume that the human operator does not inject energy into the system and behaves in a passive manner. Does this assumption hold for various tasks the human operator may execute in a teleoperation context? To answer...
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2011-06-05
Alireza Mohammadi, Mahdi Tavakoli, Ali Jazayeri
The PHANToM R devices (SensAble Technologies Inc., MA, USA) provide the users in industry and academia with an opportunity for research and education in virtual reality, haptics, robot motion control and teleoperation. Traditionally, one has to develop C/C++ codes using the OpenHaptics R software...
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Revisiting Llewellyn's Absolute Stability Criterion for Bilateral Teleoperation Systems under Non-passive Operator or Environment
Download2012-10-07
Stability of a haptic teleoperation system is influenced by the typically uncertain, time-varying and/or unknown dynamics of the operator and the environment. For a stability analysis that is independent of the operator and the environment dynamics, Llewellyn's absolute stability criterion...
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2010-12-15
In a haptic teleoperation system, closed-loop stability is influenced by the human operator and the environment dynamics, which are typically uncertain, time-varying or unknown. Therefore, in lieu of stability, the passivity of a teleoperation system as a sufficient condition for stability is...
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Stability Analysis of Teleoperation Systems under Strictly Passive and Non-passive Operator
Download2013-04-14
Ali Jazayeri, Matthew Dyck, Mahdi Tavakoli
A bilateral teleoperation system includes a human operator and an environment, which make the system stability analysis complicated due to their unknown, time-varying and nonlinear nature. Unable to have exact models for the human operator and the environment, it is typically assumed that they...