Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5817
Title: Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication
Authors: Uzunoğlu, Emre
Dede, Mehmet İsmet Can
Keywords: Bilateral teleoperation
Communication failure
Impedance control
Model-mediation method
Controllers
Issue Date: May-2017
Publisher: Cambridge University Press
Source: Uzunoğlu, E., and Dede, M.İ.C. (2017). Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication. Robotica, 35(5), 1121-1136. doi:10.1017/S0263574715001010
Abstract: SUMMARY In this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.
URI: https://doi.org/10.1017/S0263574715001010
http://hdl.handle.net/11147/5817
ISSN: 0263-5747
0263-5747
1469-8668
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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