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Skip to Search Results- 4Time-Varying Delay
- 2Semi-Autonomous System
- 1Actuator Saturation
- 1Asymptotic Stability
- 1Bilateral Teleoperation
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A cooperative paradigm for task-space control of multilateral nonlinear teleoperation with bounded inputs and time-varying delays
Download2022-11-03
Amir Zakerimanesh, Farzad Hashemzadeh, Ali Torabi, Mahdi Tavakoli
In this article, a novel multilateral teleoperation structure is presented for cooperative control of a redundant remote robot in the task-space. In the structure, each local robot is assigned a real number between zero and one, as its dominance factor. The sum of all the assigned factors is...
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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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Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems with Synchronization Enhancement
Download2022-11-03
Amir Zakerimanesh, Mojtaba Sharifi, Farzad Hashemzadeh, Mahdi Tavakoli
This paper puts forward a novel controller for joint position tracking of bilateral teleoperation systems subjected simultaneously to time-varying communication delays and bounded actuation. Enhancing such systems’ robustness to the larger time delays comes prevalently at the cost of increased...
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Task-Space Synchronization of Nonlinear Teleoperation with Time-Varying Delays and Actuator Saturation
Download2022-11-04
Amir Zakerimanesh, Farzad Hashemzadeh, Mahdi Tavakoli
In a nonlinear teleoperation system controlled for task-space position tracking, while the time-varying delay in the communication channel has been addressed, the actuator saturation has not been taken into account yet. Considering that in practice, the actuator saturation is a serious...