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.
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Salcudean, S.E., Tafazoli, S., Hashtrudi-Zaad, K., Lawrence, P.D., Reboulet, C. (1998). Evaluation of impedance and teleoperation control of a hydraulic mini-excavator. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112965
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DOI: https://doi.org/10.1007/BFb0112965
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