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Stable bilateral teleoperation with phase transition and haptic feedback.
- Source :
-
Journal of the Franklin Institute . Feb2021, Vol. 358 Issue 3, p1940-1956. 17p. - Publication Year :
- 2021
-
Abstract
- Abstract: In this paper, the bilateral teleoperation with haptic feedback is studied under the phase transition between the constraint and unconstraint motions. The stability of the teleoperation with both force feedback and phase transition is proven by Lyapunov–Krasovskii method and hybrid systems theory. The conditions of the theory results are more general than the others, they are time-varying delays, nonlinear systems, force feedback, and phase transition. By using the admittance control, the application results illustrate the efficiency of the proposed control method. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00160032
- Volume :
- 358
- Issue :
- 3
- Database :
- Academic Search Index
- Journal :
- Journal of the Franklin Institute
- Publication Type :
- Periodical
- Accession number :
- 148732093
- Full Text :
- https://doi.org/10.1016/j.jfranklin.2020.12.027