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Skip to Search Results- 2Redundant Robot
- 1Asymptotic Stability
- 1Effective Manipulability
- 1Haptics
- 1Robotics
- 1Semi-Autonomous System
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Controlled synchronization of nonlinear teleoperation in task-space with time-varying delays
Download2022-11-04
Amir Zakerimanesh, Farzad Hashemazdeh, Ali Torabi, Mahdi Tavakoli
This paper introduces a novel control framework for bilateral teleoperation system with the redundant remote robot to ensure the end-effectors’ position tracking while satisfying a sub-task control such as obstacle avoidance in the presence of the nonlinear dynamics for the manipulators and...
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Improving a User's Haptic Perceptual Sensitivity by Optimizing Effective Manipulability of a Redundant User Interface
Download2022-11-03
Teng Li, Ali Torabi, Hongjun Xing, Mahdi Tavakoli
ABSTRACT: Human perceptual sensitivity of various types of forces, e.g., stiffness and friction, is important for surgeons during robotic surgeries such as needle insertion and palpation. However, force feedback from robot end-effector is usually a combination of desired and undesired force...