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Sensorless force feedback joystick control for teleoperation of construction equipment
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Truong, Dinh Quang, Yoon, Jong II, Marco, James, Jennings, P. A. (Paul A.), Ahn, Kyoung Kwan and Ha, Cheolkeun (2017) Sensorless force feedback joystick control for teleoperation of construction equipment. International Journal of Precision Engineering and Manufacturing, 18 (7). pp. 955-969. doi:10.1007/s12541-017-0113-5 ISSN 2234-7593.
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WRAP-sensorless-force-joystick-teleoperation-Dinh-2017.pdf - Accepted Version - Requires a PDF viewer. Download (4Mb) | Preview |
Official URL: https://doi.org/10.1007/s12541-017-0113-5
Abstract
This paper aims to develop an innovative approach named sensorless force feedback joystick control for teleoperation of construction equipment. First, a force sensorless supervisory controller is designed with two advanced modules: a neural network-based environment classifier to estimate environment characteristics without requiring a force sensor and, a fuzzy-based force feedback tuner to generate properly a force reflection to the joystick. Second, two local robust adaptive controllers are simply built using neural network and Lyapunov stability condition to ensure desired task performances at both master and slave sites. A teleoperation system is setup to demonstrate the applicability of the proposed approach.
| Item Type: | Journal Article | |||||||||||||||||||||
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| Subjects: | T Technology > TH Building construction | |||||||||||||||||||||
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | |||||||||||||||||||||
| Library of Congress Subject Headings (LCSH): | Construction equipment -- Design and construction | |||||||||||||||||||||
| Journal or Publication Title: | International Journal of Precision Engineering and Manufacturing | |||||||||||||||||||||
| Publisher: | Springer | |||||||||||||||||||||
| ISSN: | 2234-7593 | |||||||||||||||||||||
| Official Date: | 7 July 2017 | |||||||||||||||||||||
| Dates: |
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| Volume: | 18 | |||||||||||||||||||||
| Number: | 7 | |||||||||||||||||||||
| Page Range: | pp. 955-969 | |||||||||||||||||||||
| DOI: | 10.1007/s12541-017-0113-5 | |||||||||||||||||||||
| Status: | Peer Reviewed | |||||||||||||||||||||
| Publication Status: | Published | |||||||||||||||||||||
| Access rights to Published version: | Restricted or Subscription Access | |||||||||||||||||||||
| Date of first compliant deposit: | 8 June 2017 | |||||||||||||||||||||
| Date of first compliant Open Access: | 7 July 2018 | |||||||||||||||||||||
| RIOXX Funder/Project Grant: |
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