ORCID Profile
0000-0002-0334-2554
Current Organisation
Örebro Universitet
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Publisher: Elsevier BV
Date: 03-2018
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: Elsevier BV
Date: 02-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2018
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2022
Publisher: IEEE
Date: 09-2015
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2020
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 09-2021
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 02-2021
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2022
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 09-2021
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2019
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2017
Publisher: Cambridge University Press (CUP)
Date: 17-07-2014
DOI: 10.1017/S026357471400191X
Abstract: Stability and transparency are two critical indices of bilateral teleoperation systems. The wave variable method is a conservative approach to robustly guarantee system passivity under arbitrary constant time delays. However, the wave-variable-based reflection is an intrinsic problem in this method because it can significantly degrade system transparency and disorient the operator's perception of the remote environment. In order to enhance both the transparency and the stability of bilateral teleoperation systems in the presence of large time delays, a new four-channel (4-CH) architecture is proposed which applies two modified wave-transformation controllers to reduce wave-based reflections. Transparency and stability of the proposed system are analyzed and the improvement in these when using this method is measured experimentally. Results clearly demonstrate that the proposed method can produce high transparency and stability even in the presence of large time delays.
Publisher: Elsevier BV
Date: 2014
Publisher: Elsevier BV
Date: 04-2017
Publisher: Elsevier BV
Date: 08-2019
Publisher: IEEE
Date: 10-2018
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 02-2020
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 02-2016
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2018
Publisher: Hindawi Limited
Date: 2016
DOI: 10.1155/2016/4316024
Abstract: A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2023
Publisher: Springer Science and Business Media LLC
Date: 07-10-2016
Publisher: Elsevier BV
Date: 12-2020
No related grants have been discovered for Da Sun.