HapticV1, PascalFrancis, Corpus, bibRecord, 000D38

Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system

Identifieur interne : 000D38 ( PascalFrancis/Corpus ); précédent : 000D37; suivant : 000D39

Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system

Auteurs : Farid Mobasser ; Keyvan Hashtrudi-Zaad

Source :

RBID : Pascal:06-0270016

Descripteurs français

Pascal (Inist)
- Téléopération, Synthèse commande, Sensibilité tactile, Echange, Condition opératoire.

English descriptors

KwdEn :
- Control synthesis, Exchange, Operating conditions, Remote operation, Tactile sensitivity.

Abstract

Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for exchange of derivatives and integrals of measured positions and forces. This paper proposes and implements a new control architecture designed based on the environment impedance reflecting controller previously developed in [1]. The performance of this new controller, implemented on a haptic simulation test-bed, is compared to that of a conventional controlier under different operational conditions.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings`
A11	`01`	`1`		`@1 MOBASSER (Farid)`
A11	`02`	`1`		`@1 HASHTRUDI-ZAAD (Keyvan)`
A14	`01`			`@1 Department of Electrical and Computer Engineering Queen's University @2 Kingston, ON @3 CAN @Z 1 aut. @Z 2 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and automation society @3 USA @9 org-cong.`
A20				`@1 1974-1979`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8232-3`
A30	`01`	`1`	`ENG`	`@1 IEEE International Conference on Robotics and Automation @2 21 @3 New Orleans LA USA @4 2004`
A43	`01`			`@1 INIST @2 Y 38842 @5 354000153471323190`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 10 ref.`
A47	`01`	`1`		`@0 06-0270016`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for exchange of derivatives and integrals of measured positions and forces. This paper proposes and implements a new control architecture designed based on the environment impedance reflecting controller previously developed in [1]. The performance of this new controller, implemented on a haptic simulation test-bed, is compared to that of a conventional controlier under different operational conditions.
C02	`01`	`X`		`@0 001D02D07`
C03	`01`	`X`	`FRE`	`@0 Téléopération @5 06`
C03	`01`	`X`	`ENG`	`@0 Remote operation @5 06`
C03	`01`	`X`	`SPA`	`@0 Teleacción @5 06`
C03	`02`	`X`	`FRE`	`@0 Synthèse commande @5 07`
C03	`02`	`X`	`ENG`	`@0 Control synthesis @5 07`
C03	`02`	`X`	`SPA`	`@0 Síntesis control @5 07`
C03	`03`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`03`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`03`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
C03	`04`	`X`	`FRE`	`@0 Echange @5 19`
C03	`04`	`X`	`ENG`	`@0 Exchange @5 19`
C03	`04`	`X`	`SPA`	`@0 Cambio @5 19`
C03	`05`	`X`	`FRE`	`@0 Condition opératoire @5 20`
C03	`05`	`X`	`ENG`	`@0 Operating conditions @5 20`
C03	`05`	`X`	`SPA`	`@0 Condición operatoria @5 20`
N21				`@1 170`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0270016 INIST
ET :	Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system
AU :	MOBASSER (Farid); HASHTRUDI-ZAAD (Keyvan)
AF :	Department of Electrical and Computer Engineering Queen's University/Kingston, ON/Canada (1 aut., 2 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 1974-1979; ISBN 0-7803-8232-3
LA :	Anglais
EA :	Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for exchange of derivatives and integrals of measured positions and forces. This paper proposes and implements a new control architecture designed based on the environment impedance reflecting controller previously developed in [1]. The performance of this new controller, implemented on a haptic simulation test-bed, is compared to that of a conventional controlier under different operational conditions.
CC :	001D02D07
FD :	Téléopération; Synthèse commande; Sensibilité tactile; Echange; Condition opératoire
ED :	Remote operation; Control synthesis; Tactile sensitivity; Exchange; Operating conditions
SD :	Teleacción; Síntesis control; Sensibilidad tactil; Cambio; Condición operatoria
LO :	INIST-Y 38842.354000153471323190
ID :	06-0270016

Links to Exploration step

Pascal:06-0270016

Le document en format XML

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<ET>Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system</ET>
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Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system

Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system

Source :

Descripteurs français

English descriptors

Abstract

Notice en format standard (ISO 2709)

Format Inist (serveur)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri