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This course is designed to equip students
with fundamental theories and computational
methodologies that are used in (computer aided) analysis
and synthesis of force controlled and
bilaterally teleoperated systems. By the end of
the course a solid understanding of the principles of
force/bilateral control in the context of modern
classical control and hands on experience with
implementation of force/bilateral controllers on force
feedback devices are aimed. Covered topics
include fundamental limitations of feedback control,
explicit force control, implicit force control, impedance
control, admittance control, reaction force observers,
scaled teleoperation architectures, trade-off between
robust stability and transperancy, physics based
simulation of virtual environments, haptics rendering,
passivity of the human-in-the-loop sampled data system,
destabilizing effects of communication/computation
delays and approaches to compensate for these time
delays, namely, time domain passivity and wave
variable approaches. The course is appropriate
for students in any engineering discipline with interests
in robotics, nonlinear controls, and haptics.
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