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
A Thin-Film SIS Solar Cell Based on Distributed Silicon Nanoparticles
Mohammad Ali Shameli - Sayyed Reza Mirnaziry - Leila Yousefi
Design and Simulation of Modified Salisbury Spatial Filter using Genetic Algorithm for Improving Optical Image Processing
Mohammadmahdi Modabberanbeh - Hassan Kaatuzian - Amir Nader Askarpour
Intrusion Detection System for Securing Agriculture 4.0 against DDoS Attacks using Deep Learning and Machine Learning Models
Mohammad Mirmarghabi - Ahmad Afshar - Hajar Atriyanfar
تعیین آرایش بهینه خطوط جهت کاهش فرسایش یقه پایه های بتنی ناشی از تنشهای باد
میثم پوراحمدی نخلی - حمیدرضا فیروزآبادی
تاثیر روشهای کاهش سناریو و عدم قطعیتهای چندمتغیره بر عملکرد هاب انرژی
مهسا نعمتی فر - حسین شریف زاده
Low-power and Low-Phase Noise Gm-Boosted Differential CMOS LC Voltage Controlled Oscillator using Genetic Algorithm
Mohammad Jafar Hemmati - Sepehr Ebrahimi Mood
Experimental Study and Implementation of a Generalized Predictive Controller on Delta Parallel Robot Based on Actuator Identification
Hasan Jalali - Behnam Moradkhani - Hossein Damavandi - Mehdi Tale Masouleh - Ahmad Kalhor
طبقهبندی محیط صوتی با استفاده از ویژگی ترکیبی مبتنی بر فیلتربانک گابور
مسعود گراوانچی زاده - سپیده اختری خسروشاهی - سحر ذاکری
Resilient Control of Mixed Traffic Systems Under Denial-of-Service Attacks
Ehsan Foroughi Asl - Mohammad Haeri
Chaos-Based Physical Layer Security in NOMA Systems
Alireza Mard shoorijeh - Mahmoud Ahmadian Attari
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 40.4.2