0% Complete
صفحه اصلی
/
سی و سومین کنفرانس بین المللی مهندسی برق
A Novel Estimation Law for Impedance-Controlled Bilateral Teleoperation to Enhance Human-Environment Interaction
نویسندگان :
Mobina Kameli
1
Mohammad Motaharifar
2
Negin Sayyaf
3
1- دانشگاه اصفهان
2- دانشگاه اصفهان
3- دانشگاه اصفهان
کلمات کلیدی :
Bilateral teleoperation،Adaptive impedance estimation،Dual transition systems،Impedance control
چکیده :
This paper presents the design of a bilateral robotic system that integrates advanced control strategies to enhance the teleoperation performance. The system employs these strategies to enable smooth bidirectional communication of motion between the master and slave robots. The estimation of environmental interaction and human force eliminates the need for force sensors on both sides. Impedance-based control is utilized to ensure system stability and improve interaction accuracy. The proposed approach demonstrates effective human-environment interaction and precise teleoperation, as validated through simulation results, showcasing its ability to maintain precise synchronization between the master and slave robots while dynamically adapting the estimation parameters.
لیست مقالات
لیست مقالات بایگانی شده
Non-Line-of-Sight imaging using raster scanning at NIR wavelength
Mohammad Roueinfar - Mahdi Salmanian
مدل سازی سینگولار گسسته زمان یک سیستم الکتریکی و کنترل آن به روش الگوریتم یادگیری تکرارشونده
علی غلامی بنادکوکی - طاهره بینازاده
A Two Stage Low Power 0.73-4.4 GHz LNA Using Current Reuse and Noise Reduction Techniques
Sajjad Shojaei Baghini - Seyed-Ali Samareh-TaheriNasab - Samad Sheikhaei
A 5kW Bidirectional Isolated On-Board EV Battery Charger Using Hybrid PFC/Inverter
Amir Hossein Dabbagh - Hamed Arvani - Ebrahim Afjei
طراحی تقویت کننده توان موج میلی متری پهن باند در فناوری سی ماس برای کاربردهای نسل پنجم
سید محمد مهدی جعفری - صمد شیخایی
Stability Analysis of Singular 2-D Positive systems
Mahmoud Zamani - Masoud Shafiee - Iman Zamani
A New Method on Failure Detection of Fixed and Moving Contacts of Circuit Breakers
Hassan Hamidi - Ali Asghar Razi Kazemi
Kalman Filter Fusion Based on Interactive Multiple Model for Target Tracking in Wireless Sensor Networks
Zahra Zamani - Behrouz Safarinejadian
Improved Equivalent Input Disturbance Control of Nonlinear Aeropendulum System Using Data-Driven Approach
Mohammad Hossein Bayati - Arman Marzban - Mahsan Tavakoli-Kakhki - Ali Naseh
An Analysis of Nash Equilibrium Learning through Myopic Decision-making in Incomplete Information Double Sided Auction Games within Markets
Hesam Farzaneh - Parsa Zholideh
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 43.6.0
