Dr Aghil Jafari's Outputs (47)

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.

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.

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.

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.