DocumentCode
323918
Title
Bilateral matched impedance teleoperation with application to excavator control
Author
Salcudean, S.E. ; Hashtrudi-Zaad, K. ; Tafazoli, S. ; DiMaio, S.P. ; Reboulet, C.
Author_Institution
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
Volume
1
fYear
1998
fDate
16-20 May 1998
Firstpage
133
Abstract
This paper addresses issues of transparency and implementation of dual hybrid teleoperation. A method for automatically adjusting the master and slave impedances to match stiff and soft environments and to interpolate in between them is presented and evaluated using simulations. The application of this technique to the force-feedback control of a mini-excavator is also presented and discussed with supporting experimental results
Keywords
excavators; feedback; force control; position control; telerobotics; excavator; force-feedback control; impedance matching; master slave system; simulations; teleoperation; Adaptive control; Application software; Communication system control; Feedback loop; Force control; Force feedback; Humans; Impedance; Master-slave; Programmable control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.676337
Filename
676337
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