By Zhijun Li, Yuanqing Xia, Chun-Yi Su
This booklet describes a unified framework for networked teleoperation platforms concerning a number of study fields: networked regulate platforms for linear and nonlinear kinds, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It heavily examines networked keep watch over as a box on the intersection of platforms & regulate and robotics and provides a few experimental case reports on testbeds for robot platforms, together with networked haptic units, robot community platforms and sensor community structures. The techniques and effects defined are effortless to appreciate, even for readers rather new to the topic. As such, the ebook bargains a helpful reference paintings for researchers and engineers within the fields of structures & keep an eye on and robotics.
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Additional info for Intelligent Networked Teleoperation Control
When a teleoperation system interacts with an arbitrary environment, the environment can exhibit zero stiffness (slave robot motion in free space), near infinite stiffness (slave robot motion in constrained space, such as pressing against a wall), and any stiffness between. When analyzing the stability of the system, the environment stiffness directly affects the gain margin of the system. In most practical teleoperation systems, exact environmental stiffness values are not known in advance and vary during manipulation.
U n ]T ∈ Ωu ⊂ Rm is the input vector. 18) is defined to be controllable if there exists an admissible input vector u(t) such that the state x(t) can converge from an initial point x(t0 = 0) = x0 ∈ Ωx to the final point x(t f ) ∈ Ωx within a finite time interval t f . The controllability means that the control system is with a set of input channels through which the input can excite the states effectively to converge to the destination x f . 18) should mainly depend on the function forms of all f (x) and gi (x).
Recently, finite-time control based on sliding mode scheme was also proposed. In , a nonsingular fast terminal sliding mode (NFTSM) control is developed to provide faster convergence and higher precision for bilateral teleoperation with constant time delay. 7 Adaptive Control Since the adaptive controllers deployed to deal with uncertainties in master/slave model and operator/environment model are very similar, the algorithms proposed in the literature to achieve adaptive control can be grouped into four major areas: (i) Adaptive controllers for operator and environment model estimation The controls address the issues of operator and environment model adaptation.