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• W2262245568 abstract "When teleoperations are implemented in the constrained environment, the lack of environment information would lead to contacts and undesired excessive contact forces, which are more evident with the existence of time delays. In this paper, a hybrid compliant bilateral controller is proposed to deal with this problem. The controller adopts a self-adjusting selecting scheme to divide the subspaces online. The master and slave manipulators are synchronized in the position subspace through an adaptive bilateral control scheme. At the same time, the slave manipulator is controlled by a local sliding mode impedance controller in order to achieve the desired compliant motion when contacting with the environment. Theoretical analysis proves the stability of the hybrid bilateral controller and concludes the transient performance of the teleoperators. Simulations are carried out to verify the effectiveness of the proposed approach. The results show that the control goals are all achieved." @default.
• W2262245568 created "2016-06-24" @default.
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• W2262245568 date "2016-05-01" @default.
• W2262245568 modified "2023-10-16" @default.
• W2262245568 title "A self-adjusting compliant bilateral control scheme for time-delay teleoperation in constrained environment" @default.
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• W2262245568 doi "https://doi.org/10.1016/j.actaastro.2016.01.017" @default.
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