HapticV1, Main, Exploration, bibRecord, 006049

Real-time adaptive control for haptic telemanipulation with kalman active observers

Identifieur interne : 006049 ( Main/Exploration ); précédent : 006048; suivant : 006050

Real-time adaptive control for haptic telemanipulation with kalman active observers

Auteurs : Rui Cortesao [Portugal] ; Jaeheung Park [États-Unis] ; Oussama Khatib [États-Unis]

Source :

IEEE transactions on robotics [ 1552-3098 ] ; 2006.

RBID : Pascal:07-0024643

Descripteurs français

Pascal (Inist)
- Temps réel, Commande adaptative, Téléopération, Identification système, Observateur, Robotique, Commande retour état, Synthèse commande, Robustesse, Sensibilité tactile, Domaine travail, Manipulateur, Rigidité, Estimation, Filtre Kalman, Linéarisation par retour état, Méthode espace état, Approche probabiliste.
Wicri :
- topic : Observateur, Robotique.

English descriptors

KwdEn :
- Adaptive control, Control synthesis, Estimation, Feedback linearization, Kalman filter, Manipulator, Observer, Probabilistic approach, Real time, Remote operation, Robotics, Robustness, State feedback, State space method, Stiffness, System identification, Tactile sensitivity, Workspace.

Abstract

This paper discusses robotic telemanipulation with Kalman active observers and online stiffness estimation. Operational space techniques, feedback linearization, discrete state space methods, augmented states, and stochastic design are used to control a robotic manipulator with a haptic device. Stiffness estimation only based on force data (measured, desired, and estimated forces) is proposed, avoiding explicit position information. Stability and robustness to stiffness errors are discussed, as well as real-time adaptation techniques. Telepresence is analyzed. Experiments show high performance in contact with soft and hard surfaces.

Affiliations:

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000C02
to stream PascalFrancis, to step Curation: 000893
to stream PascalFrancis, to step Checkpoint: 000939
to stream Main, to step Merge: 006296
to stream Main, to step Curation: 006049

Le document en format XML

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<term>Robustness</term>
<term>State feedback</term>
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<term>Identification système</term>
<term>Observateur</term>
<term>Robotique</term>
<term>Commande retour état</term>
<term>Synthèse commande</term>
<term>Robustesse</term>
<term>Sensibilité tactile</term>
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<term>Rigidité</term>
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<term>Méthode espace état</term>
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<front><div type="abstract" xml:lang="en">This paper discusses robotic telemanipulation with Kalman active observers and online stiffness estimation. Operational space techniques, feedback linearization, discrete state space methods, augmented states, and stochastic design are used to control a robotic manipulator with a haptic device. Stiffness estimation only based on force data (measured, desired, and estimated forces) is proposed, avoiding explicit position information. Stability and robustness to stiffness errors are discussed, as well as real-time adaptation techniques. Telepresence is analyzed. Experiments show high performance in contact with soft and hard surfaces.</div>
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Real-time adaptive control for haptic telemanipulation with kalman active observers

Real-time adaptive control for haptic telemanipulation with kalman active observers

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri