Transparency improvement by external force estimation in a time-delayed nonlinear bilateral teleoperation system

• Main Authors: Amini, H., Rezaei, S.M., Sarhan, A.A.D., Akbari, J., Mardi, N.A.
• Format: Article
• Published: Journal of Dynamic Systems Measurement and Control-Transactions of the Asme 2015
• Subjects: T Technology (General); TJ Mechanical engineering and machinery
• Online Access: http://eprints.um.edu.my/13759/; http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=1936140

Teleoperation systems have been developed in order to manipulate objects in environments where the presence of humans is impossible, dangerous or less effective. One of the most attractive applications is micro telemanipulation with micropositioning actuators. Due to the sensitivity of this operatio...