4 accepted papers
This paper studies the problem of interaction control based on force and velocity measurements. Without restricting ourselves to fixed control structures such as admittance or impedance control, we consider the general topology of the problem. Adopting the idea of Youla-based 2DOF control, we reveal…
This paper describes development of a controllerfor bilateral robotic system for tele-echography with delayed communications. The system comprises two identical 6DOF robotic devices based on Stewart-Gough mechanisms, which were developed especially for the sake of the considered application. Control…
In this paper we consider a problem of delayed bilateral teleoperation control. We exploit a recent parameterization of all feasible teleoperator admittance matrices to propose a control synthesis procedure based on admittance shaping. This leads to an intuitive performance-oriented controller desig…
In this paper we study performance achievable in delayed bilateral teleoperation control. Our goal is to characterize all teleoperation system behaviors that can be achieved with delayed communication but without any restrictive assumptions on the control law, such as passivity. To this end, a recen…