Dr Aghil Jafari's Outputs (39)

Increasing the rate-hardness of haptic interaction: Successive force augmentation approach (2017)
Presentation / Conference Contribution

There have been numerous approaches that have been proposed to enlarge the impedance range, however it is still a challenging issue to increase the rate-hardness of haptic interaction while maintaining stability. The actual perceived rate-hardness ha... Read More about Increasing the rate-hardness of haptic interaction: Successive force augmentation approach.

Multi degree-of-freedom successive stiffness increment approach for high stiffness haptic interaction (2016)
Presentation / Conference Contribution

In haptic interaction, stability and the object’s hardness perception are of great significance. Although numerous studies have been done for stable haptic interaction, however, most of them sacrifice the actual displayed stiffness as a cost of stabi... Read More about Multi degree-of-freedom successive stiffness increment approach for high stiffness haptic interaction.

Stable and transparent teleoperation over communication time-delay: Observer-based input-to-state stable approach (2016)
Presentation / Conference Contribution

In this paper, an observer-based input-to-state stable approach is proposed to stabilize teleoperation systems over communication time-delay with better transparency compared with passivity approaches. In this paper, input-to-state stable approach is... Read More about Stable and transparent teleoperation over communication time-delay: Observer-based input-to-state stable approach.

Independent force and position control for cooperating manipulators handling an unknown object and interacting with an unknown environment (2016)
Journal Article

© 2016 The Franklin Institute. Published by Elsevier Ltd. All rights reserved. This paper presents a unified framework for system design and control in cooperative robotic systems. It introduces a highly generalized cooperative system configuration t... Read More about Independent force and position control for cooperating manipulators handling an unknown object and interacting with an unknown environment.

Increasing the impedance range of admittance-type haptic interfaces by using Time Domain Passivity Approach (2015)
Presentation / Conference Contribution

© 2015 IEEE. This paper proposes a method to increase the impedance range of admittance-type haptic interfaces. Admittance-type haptic interfaces are used in various applications that typically require interaction with high impedance virtual environm... Read More about Increasing the impedance range of admittance-type haptic interfaces by using Time Domain Passivity Approach.

Stable bilateral teleoperation with input-to-state stable approach (2015)
Presentation / Conference Contribution

Passivity has been the most often used constraint for the controller design of bilateral teleoperation systems. However passivity has been suffering from its own design conservatism since this is a sufficient condition for stability and representing... Read More about Stable bilateral teleoperation with input-to-state stable approach.

Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces (2015)
Presentation / Conference Contribution

© 2015 IEEE. This paper introduces a network formulation of bilateral teleoperation systems with admittance-type master interfaces to improve their stability range with Time Domain Passivity Approach (TDPA). Since traditional network representation o... Read More about Network formulation and stability improvement of a bilateral teleoperation system with admittance-type master interfaces.

Stable admittance type haptic interaction based on time domain passivity approach (2015)
Journal Article

In this paper, we propose a stable and high transparent admittance haptic display even in free space haptic rendering. Because considering admittance haptic rendering as a one-port network is not enough to detect the active energy, new representation... Read More about Stable admittance type haptic interaction based on time domain passivity approach.

Input-to-state stable approach to release the conservatism of passivity-based stable haptic interaction (2015)
Presentation / Conference Contribution

© 2015 IEEE. Passivity has been a major criterion on designing a stable haptic interface due to many advantages. However, passivity has been suffering from its intrinsic conservatism since it only represents a small set of the whole stable region. Th... Read More about Input-to-state stable approach to release the conservatism of passivity-based stable haptic interaction.

6-DOF extension of memory-based passivation approach for stable haptic interaction (2014)
Journal Article

© 2014, Springer-Verlag Berlin Heidelberg. This paper extends previously proposed memory-based passivity approach (MBPA) to 6 degrees-of-freedom (DOF) haptic interactions. By introducing 6-DOF virtual proxy and virtual object, connected with haptic i... Read More about 6-DOF extension of memory-based passivation approach for stable haptic interaction.

Hybrid force-motion control of coordinated robots interacting with unknown environments (2014)
Presentation / Conference Contribution

© 2014 Institute of Control, Robotics and Systems (ICROS). This paper presents a unified framework for system design and control in cooperative robotic systems. It introduces a highly general cooperative system configuration involving any number of m... Read More about Hybrid force-motion control of coordinated robots interacting with unknown environments.

Sliding mode hybrid impedance control of robot manipulators interacting with unknown environments using VSMRC method (2013)
Presentation / Conference Contribution

In the present paper, the objective of hybrid impedance control is specified and a robust hybrid impedance control approach is proposed. Based on the concept of hybrid control, the task space is decomposed into position and force controlled subspaces... Read More about Sliding mode hybrid impedance control of robot manipulators interacting with unknown environments using VSMRC method.

Transparency improved sliding-mode control design for bilateral teleoperation systems by using virtual manipulator concept (2013)
Presentation / Conference Contribution

This paper proposes a new methodology for designing sliding mode bilateral controllers based virtual manipulator concept that aims to reach the most transparency considering parameter uncertainties and disturbances. This method shows a modified schem... Read More about Transparency improved sliding-mode control design for bilateral teleoperation systems by using virtual manipulator concept.

An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments
Presentation / Conference Contribution

In the present paper, the objective of hybrid control is specified and an adaptive hybrid force/motion control approach is proposed. Based on the concept of hybrid control, the task space is decomposed into position and force controlled subspaces. An... Read More about An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments.

Multi degree-of-freedom input-to- state stable approach for stable haptic interaction
Presentation / Conference Contribution

Passivity has been the most often used constraint for the controller design of haptic interfaces. However, the designed controller based on passivity constraint has been suffering from its conservatism, especially when the user wants to increase the... Read More about Multi degree-of-freedom input-to- state stable approach for stable haptic interaction.

Design a stable admittance control algorithm for admittance type haptic interface
Presentation / Conference Contribution

It was korean

Independent force and position control for cooperating manipulators handling an unknown object interacting with an unknown environment
Presentation / Conference Contribution

In this paper, we consider two manipulators grasping a rigid object in contact with a deformable working surface, whose real physical parameters are unknown. Dynamics of the closed chain mechanism is expressed based on the objects center of mass, and... Read More about Independent force and position control for cooperating manipulators handling an unknown object interacting with an unknown environment.

Successive stiffness increment approach for high stiffness haptic interaction
Presentation / Conference Contribution

This paper proposes a method to further enlarge the displayed stiffness range of the impedance-type haptic interfaces. Numerous studies have been done for a stable haptic interaction in a wide impedance range. However, most of the approaches sacrific... Read More about Successive stiffness increment approach for high stiffness haptic interaction.

Input-to-State Stable Approach for Haptic Interface and Teleoperation Systems
Thesis

Passivity has been a major criterion on designing a stable haptic interface due to many advantages. However, passivity has been suffering from its intrinsic conservatism since it only represents a small set of the whole stable region. Therefore, ther... Read More about Input-to-State Stable Approach for Haptic Interface and Teleoperation Systems.