A novel switched-impedance control method is proposed and implemented for telerobotic beating-heart surgery. Differing from cardiopulmonary-bypass-based arrested-heart surgery, beating-heart surgery creates challenges for the human operator (surgeon) due to the heart's fast motions and, in the case of a teleoperated surgical robot, the oscillatory haptic feedback to the …
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Jul 09, 1997 · Impedance control of a teleoperated mini excavator Abstract: A position-based impedance controller for excavator-type manipulators has been developed in our laboratory. This paper describes the proposed impedance controller and …
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Aug 07, 2002 · Impedance control of a teleoperated excavator Abstract: Earth-moving machines such as hydraulic excavators are usually used for carrying out contact tasks. Impedance control can be employed as an approach for achieving compliant motion in such tasks. This paper describes a position-based impedance controller that has been developed in our
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CiteSeerX - Scientific documents that cite the following paper: Impedance Control of VToL UAVs with a Momentum-based External Generalized Forces Estimator
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A position-based impedance controller for excavator-type manipulators has been developed in our laboratory. This paper describes the proposed impedance controller and presents supporting experimental results. First, the problem of impedance control for a single hydraulic actuator is addressed and a method is presented for stability analysis. Steady-state position and force …
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Jun 17, 2021 · Salcudean, S. E., et al.: Bilateral matched impedance teleoperation with application to excavator control. IEEE Control. Syst. Mag. 19(6), 29–37 (1999) MathSciNet Article Google Scholar 18. Salcudean, S. E., et al.: Impedance control of a teleoperated mini excavator. IEEE 1997 8th International Conference on Advanced Robotics. Proceedings
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Impedance control of a teleoperated mini excavator A position-based impedance controller for excavator-type manipulators has been developed in our citeseerx.ist.psu.edu Modelling and remote control of an excavator This paper reposts the results of an on-going project and investigates modelling and remote control issues of an
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Impedance control of a teleoperated pneumatic actuator: Implementation and stability Analysis. Control. Intell. Position-based impedance control of an industrial hydraulic manipulator. ICRA 1996: 284-290. 1995 [j4] Coordinated and Force-Feedback Control of Hydraulic Excavators. ISER 1995: 181-194. 1992 [j2] view.
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A control system should process the data and make a coupling between slave and master. Despite the significant amount of research on haptic devices, this control design problem is, largely, an open problem. This paper reports the results on three model-based control designs.
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Sliding mode control incorporating a fuzzy Lawrence, Evaluation of impedance and teleoperation control tuning approach has been successfully implemented of a hydraulic mini-excavator, in: Proceedings of the 5th Int. for the control of the ram force and the cylinder Sym. Experimental Robotics ISER'97, Barcelona, Spain, position the excavator
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CiteSeerX - Scientific documents that cite the following paper: Impedance Control of VToL UAVs with a Momentum-based External Generalized Forces Estimator
Get a QuoteSep 01, 2015 · Position-Based Impedance Control of an Industrial Hydraulic Manipulator," Coordinated and Force-Feedback Control of Hydraulic Excavators," 4th International Symposium Novel Design of Haptic Devices for Bilateral Teleoperated Excavators Using the …
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Impedance control of a teleoperated mini excavator A position-based impedance controller for excavator-type manipulators has been developed in our laboratory generel - core.ac.uk - PDF: citeseerx.ist.psu.edu
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CiteSeerX - Document Details (Isaac Councill, Lee Giles, Pradeep Teregowda): This paper addresses issues of transparency and implementation of dual-hybrid teleoperation. A method for automatically adjusting the master and slave impedances to match sti# and soft environments and to interpolate between them is presented and evaluated using simulations.
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Aug 07, 2002 · Impedance control of a teleoperated excavator. Abstract: Earth-moving machines such as hydraulic excavators are usually used for carrying out contact tasks. Impedance control can be employed as an approach for achieving compliant motion in such tasks. This paper describes a position-based impedance controller that has been developed in our laboratory for …
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impedance control for a hydraulic excavator have been presented by Lu et al. (1995) and Ha et al. (2000). In Tafazoli et al. (2002), a position-based impedance controller was presented on various contact experiments by using an instrumented mini-excavator. Rather than excavation control
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IMPEDANCE CONTROL OF A TELEOPERATED PNEUMATIC ACTUATOR: IMPLEMENTATION AND STABILITY ANALYSIS. Naghmeh Garmsiri,∗ Yuming Sun,∗ and Nariman Sepehri∗. References [1] M. Tufail and C. De Silva, Haptic teleoperation using impedance control with application in homecare robotics, Control and Intelligent Systems, 41(3), 2013.
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Takeuchi TB035 mini-excavator [14] which has been instru-mented using joint angle sensors, load pins, and fluid pressure IMPEDANCE CONTROL OF A TELEOPERATED EXCAVATOR 357 133.44KN,and 133.44KN
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Jan 23, 2013 · As many high-rise buildings have been dismantled or demolished, researchers have developed many new deconstruction methods and devices. Among these, excavators equipped with attachments such as crushers or breakers have been most widely used on many deconstruction sites. This paper introduces a novel design and control algorithm of haptic …
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CiteSeerX - Document Details (Isaac Councill, Lee Giles, Pradeep Teregowda): A position-based impedance controller for excavator-type manipulators has been developed in our laboratory. This paper describes the proposed impedance controller and …
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