Evaluation of impedance and teleoperation control of a hydraulic mini-excavator.

Authors :: Thoma, M.
Bensoussan, A.
Grimble, M. J.
Kokotovic, P.
Kwakernaak, H.
Massey, J. L.
Tsypkin, Y. Z.
Casals, Alicia
de Almeida, Anibal T.
Salcudean, S. E.
Tafazoli, S.
Hashtrudi-Zaad, K.
Lawrence, P. D.
Reboulet, C.
Source :: Experimental Robotics V; 1998, p227-240, 14p
Publication Year :: 1998
Abstract: A position-based impedance controller has been implemented on a mini-excavator. Its performance and an approach to evaluate its stability robustness for given environment impedances are discussed. A dual hybrid teleoperation controller is proposed for machine control. Issues of transparency are discussed. [ABSTRACT FROM AUTHOR]

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