Real-time adaptive control for haptic telemanipulation with kalman active observers
Identifieur interne : 000C02 ( PascalFrancis/Corpus ); précédent : 000C01; suivant : 000C03Real-time adaptive control for haptic telemanipulation with kalman active observers
Auteurs : Rui Cortesao ; Jaeheung Park ; Oussama KhatibSource :
- IEEE transactions on robotics [ 1552-3098 ] ; 2006.
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.
English descriptors
- KwdEn :
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.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
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Format Inist (serveur)
NO : | PASCAL 07-0024643 CRAN |
---|---|
ET : | Real-time adaptive control for haptic telemanipulation with kalman active observers |
AU : | CORTESAO (Rui); PARK (Jaeheung); KHATIB (Oussama) |
AF : | Institute of Systems and Robotics, University of Coimbra/3030 Coimbra/Portugal (1 aut.); Robotics Group, Stanford University/Stanford, CA 94305-9010/Etats-Unis (2 aut., 3 aut.) |
DT : | Publication en série; Niveau analytique |
SO : | IEEE transactions on robotics; ISSN 1552-3098; Etats-Unis; Da. 2006; Vol. 22; No. 5; Pp. 987-999; Bibl. 39 ref. |
LA : | Anglais |
EA : | 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. |
CC : | 001D02D04; 001D02D11; 001D02D05; 001D02D07 |
FD : | 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 |
ED : | Real time; Adaptive control; Remote operation; System identification; Observer; Robotics; State feedback; Control synthesis; Robustness; Tactile sensitivity; Workspace; Manipulator; Stiffness; Estimation; Kalman filter; Feedback linearization; State space method; Probabilistic approach |
SD : | Tiempo real; Control adaptativo; Teleacción; Identificación sistema; Observador; Robótica; Bucle realimentación estado; Síntesis control; Robustez; Sensibilidad tactil; Dominio trabajo; Manipulador; Rigidez; Estimación; Filtro Kalman; Linearización por retroacción; Método espacio estado; Enfoque probabilista |
LO : | INIST-21023A.354000157252950100 |
ID : | 07-0024643 |
Links to Exploration step
Pascal:07-0024643Le document en format XML
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<ET>Real-time adaptive control for haptic telemanipulation with kalman active observers</ET>
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<LA>Anglais</LA>
<EA>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.</EA>
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<ED>Real time; Adaptive control; Remote operation; System identification; Observer; Robotics; State feedback; Control synthesis; Robustness; Tactile sensitivity; Workspace; Manipulator; Stiffness; Estimation; Kalman filter; Feedback linearization; State space method; Probabilistic approach</ED>
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