Evaluation of Impedance and Teleoperation Control of a Hydraulic Mini-Excavator

: 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.

• Type: Conference
• Year: 1997
• Where: ISER
• Authors: S. E. Salcudean, S. Tafazoli, K. Hashtrudi-Zaad, P. D. Lawrence, Claude Reboulet
• Keywords: Hybrid Teleoperation Controller, ISER 1997, Position-based Impedance Controller, Robotics, Stability Robustness