Real-time adaptive control for haptic telemanipulation with kalman active observers
Identifieur interne : 000893 ( PascalFrancis/Curation ); précédent : 000892; suivant : 000894Real-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.
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 :
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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<term>Observer</term>
<term>Probabilistic approach</term>
<term>Real time</term>
<term>Remote operation</term>
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<term>Robustness</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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