KFU. Card publication. Force Sensations of Delayed Telerobotic System with Kalman Filter

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FEDERAL UNIVERSITY

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FORCE SENSATIONS OF DELAYED TELEROBOTIC SYSTEM WITH KALMAN FILTER

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2021

Язык

английский

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Li, H., Nie, X., Magid, E., and Gui, D. (2021). Force Sensations of Delayed Telerobotic System with Kalman Filter. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Annotation

2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Keywords

Force, Estimation, Robot sensing systems, Main-secondary, Haptic interfaces, Delays, Kalman filters

The name of the journal

2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)

URL

https://ieeexplore.ieee.org/document/9739537

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=258302&p_lang=2

Resource files

File name	Size (MB)	Format
2021_Force_Sensations_of_Delayed_Telerobotic_System_with_Kalman_Filter.pdf	2,22	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Li, H., Nie, X., Magid, E., and Gui, D. (2021). Force Sensations of Delayed Telerobotic System with Kalman Filter. 2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=258302&p_lang=2	ru_RU
dc.description.abstract	2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)	ru_RU
dc.description.abstract	The transparency of a telerobotic system indicates a measure of how the human feels the remote system. Haptic perception plays a very important role in improving such system transparency. It enables the operator to feel the environment properties, evaluate object structures, and allow him/her to commit appropriate force control actions for safe manipulation. However, the typical approach to acquire remote contact forces is attaching force sensors on slave robot tip. This complicates system structure, makes delayed system unstable and makes the tool bulky. This paper presents formulation and application of an estimation approach based on Kalman filter for control of master slave robots contacting with unknown environment. A Kalman filter based estimator has been designed to estimate the driving current and rotation speed of the joint actuator. The feasibility of using motor current to estimate tool-environment contact forces is explored. Experimental results are presented, which demonstrate stable behavior of the telerobotic system with communication delay contact with remote environment.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Force	ru_RU
dc.subject	Estimation	ru_RU
dc.subject	Robot sensing systems	ru_RU
dc.subject	Main-secondary	ru_RU
dc.subject	Haptic interfaces	ru_RU
dc.subject	Delays	ru_RU
dc.subject	Kalman filters	ru_RU
dc.title	Force Sensations of Delayed Telerobotic System with Kalman Filter	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU