Telerobotic Control Architecture Including Force-Reflection

1998 ◽  
Author(s):  
Mark A. Murphy ◽  
Robert L. Williams ◽  
III
Keyword(s):  
Control Architecture ◽  
Force Reflection

Application of Two-Port Network in Bilateral Control for a Haptic Interface with Force-Position Compensation

2011 ◽  
Vol 199-200 ◽  
pp. 1211-1216 ◽  
Author(s):  
Jian Jun Meng ◽  
Jin Tian Yun
Keyword(s):  
Network Theory ◽  
Force Feedback ◽  
Position Error ◽  
Haptic Interface ◽  
Control Architecture ◽  
High Fidelity ◽  
Control Methods ◽  
Bilateral Control ◽  
Precise Position ◽  
Force Reflection

The two-port network theory for describing the characteristics of the haptic interface is presented; the four-channel bilateral control architecture is introduced, and two control methods named position-error-based control and direct force reflection control (PEBC & DFRC) are also presented. Two main problems caused by the coupling between position and force information for transparency improvement of the haptic interface are also be discussed and a Model-Based Force-Position Compensation Strategy to enhance the transparency of the haptic interface is proposed. By embedding the compensation unit into the DFRC architecture, the Haptic Interface could be controlled with precise position and high-fidelity force feedback.

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

Statistical Feedback Control Architecture for Layered Manufacturing

1999 ◽  
Vol 7 (4) ◽  
pp. 391-404 ◽  
Author(s):  
TONG FANG ◽  
MOHSEN A. JAFARI ◽  
AHMAD SAFARI ◽  
STEPHEN C. DANFORTH
Keyword(s):  
Feedback Control ◽  
Layered Manufacturing ◽  
Control Architecture

Resilient Operation of an MMC with Communication Interruption in a Distributed Control Architecture

2021 ◽  
pp. 1-1
Author(s):  
Shunfeng Yang ◽  
Haiyu Chen ◽  
Pengfei Sun ◽  
Haiyu Wang ◽  
Frede GE Blaabjerg ◽  
...  
Keyword(s):  
Distributed Control ◽  
Control Architecture

scholarly journals A force/motion control approach based on trajectory planning for industrial robots with closed control architecture

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Alejandro GutierreznGiles ◽  
Luis U. EvangelistanHernandez ◽  
Marco A. Arteaga ◽  
Carlos A. CruznVillar ◽  
Alejandro RodrigueznAngeles
Keyword(s):  
Motion Control ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Control Architecture ◽  
Control Approach
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