DOI: 10.1109/iccas.2013.6704070
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Riaz Uddin, Sangsoo Park, Sangyun Baek, Jeha Ryu

Abstract: This paper presents a feasibility of model predictive energy-bounding approach (EBA) for multiple degree-of-freedom (m-DOF) bilateral teleoperation with adaptive information of slave site. The idea uses model-based prediction of m-DOF slave site dynamic parameter and geometry adaptively on the master site. In this regards, the non-delayed feedback force is obtained from updated dynamic model (of slave site) at master site by knowing the stiffness and geometry and then the force obtained from this model is rob…

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