HapticV1, PascalFrancis, Curation, bibRecord, 000893

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

Identifieur interne : 000893 ( PascalFrancis/Curation ); précédent : 000892; suivant : 000894

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.

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Le document en format XML

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<fC03 i1="15" i2="X" l="SPA"><s0>Filtro Kalman</s0>
<s5>21</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Linéarisation par retour état</s0>
<s5>22</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Feedback linearization</s0>
<s5>22</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Linearización por retroacción</s0>
<s5>22</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Méthode espace état</s0>
<s5>23</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>State space method</s0>
<s5>23</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Método espacio estado</s0>
<s5>23</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Approche probabiliste</s0>
<s5>24</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Probabilistic approach</s0>
<s5>24</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Enfoque probabilista</s0>
<s5>24</s5>
</fC03>
<fN21><s1>015</s1>
</fN21>
<fN44 i1="01"><s1>PSI</s1>
</fN44>
<fN82><s1>PSI</s1>
</fN82>
</pA>
</standard>
</inist>
</record>

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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

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