A course in fuzzy systems and control
A course in fuzzy systems and control
Smith Predictor Type Control Architectures for Time Delayed Teleoperation
International Journal of Robotics Research
Robotics and Autonomous Systems
Advances in Telerobotics
Improved transparency in bilateral teleoperation with variable time delay
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Bilateral teleoperation: An historical survey
Automatica (Journal of IFAC)
Trends in the control schemes for bilateral teleoperation with time delay
AIS'11 Proceedings of the Second international conference on Autonomous and intelligent systems
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
Experimental Comparison Study of Control Architectures for Bilateral Teleoperators
IEEE Transactions on Robotics
Adaptive control of robot manipulator using fuzzy compensator
IEEE Transactions on Fuzzy Systems
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In recent years, teleoperation has shown great potentials in different fields such as spatial, mining, under-water, etc. When this technology is required to be bilateral, the time delay induced by a potentially large physical distance prevents a good performance of the controller, especially in the case of contact. When bilateral teleoperation is introduced to the field of medicine, a new challenge arises: the controller must perform well in both hard and soft environments. For example, in the context of telesurgery, the robot can enter in contact with both bone (hard) and organ (soft). In an attempt to enrich existing controller designs to better suit the medical needs, an adaptive fuzzy logic controller (AFLC) is designed in this paper. It simulates human intelligence and adapts to environments of different stiffness coefficients. The simulation results prove that this controller demonstrates very interesting potential.