Bilateral Control With Continuously Variable Scaling

dc.authoridÖztoprak, Burak/0000-0002-1992-9448;
dc.authorwosidBaran, Eray/U-3499-2019
dc.authorwosidÖztoprak, Burak/ITR-9084-2023
dc.authorwosidAsif, Sabanovic/N-7789-2013
dc.contributor.authorOztoprak, Burak
dc.contributor.authorBaran, Eray A.
dc.contributor.authorSabanovic, Asif
dc.date.accessioned2024-07-18T20:52:15Z
dc.date.available2024-07-18T20:52:15Z
dc.date.issued2018
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description6th International Conference on Control Engineering and Information Technology (CEIT) -- OCT 25-27, 2018 -- Istanbul, TURKEYen_US
dc.description.abstractThis paper proposes a method for the scaled bilateral teleoperation with continuously variable position and force scaling. In the proposed method, the controller is reformulated to synchronize the forces and velocities which provides the operator with the ability to change the scaling gains during operation. For the derivation of the controller, exponentially decaying error dynamics are preferred over the assumption of disturbance compensation with Disturbance Observers (DOB). Following the mathematical derivation, the algorithm is tested on a setup containing single DOF master and slave robots with the ability of giving force feedback to the operator. In order to provide a complete analysis, several different sets of experiments are made with sinusoidal velocity and force scales having different amplitudes and frequencies. Experiment results illustrate the successful tracking responses and stable operation of the proposed control scheme for the continuously varying velocity and force scales.en_US
dc.description.sponsorshipYildiz Tech Univen_US
dc.description.sponsorshipIstanbul Bilgi University [2017.01.004]en_US
dc.description.sponsorshipThis study is partially supported by the Internal Research Grant 2017.01.004 of Istanbul Bilgi University.en_US
dc.identifier.isbn978-1-5386-7641-7
dc.identifier.scopus2-s2.0-85069215822en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://hdl.handle.net/11411/8593
dc.identifier.wosWOS:000491282100199en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartof2018 6th International Conference on Control Engineering & Information Technology (Ceit)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectBilateralcontrolen_US
dc.subjectContinuous Scalingen_US
dc.subjectVariable Scaled Teleoperationen_US
dc.subjectMotion Controlen_US
dc.subjectSystemen_US
dc.subjectImplementationen_US
dc.subjectTeleoperationen_US
dc.subjectStabilityen_US
dc.titleBilateral Control With Continuously Variable Scalingen_US
dc.typeConference Objecten_US

Dosyalar