Poiion racking Perforance of a Redndan eleoperaion Sye Mehe Ie Can Dede, and Sabri onogl lorida Inernaional Unieriy Deparen of Mechanical and Maerial Engineering Miai, lorida 3374 35-348-684 cdede@fi.ed ABSRAC eleoperaion ha capred he inere of roboic reearcher for ore han o decade. Many foced on he abiliy proble hen he ye eperience ie delay. Mo of he ie, garaneeing abiliy ha oerhadoed he racking perforance. hi ork differeniae eleoperaion ye ino o grop a liied and nliied-orkpace eleoperaion depending on heir poiion racking prioriie. Specifically, hi paper eaine liied-orkpace eleoperaion on a redndan ye. he lae i odeled o be he iral repreenaion of a anc LR Mae ib, a fie degree-of-freedo (DO) erial indrial aniplaor. he aer i eleced a a o-do force-reflecing joyick. Hence, he eleoperaion ye i redndan ince he degree-of-freedo of he lae i greaer han he aer. eleoperaion eperien hae been condced for hi ye nder conan ie delay and conicaion loe. he rel are preened hen he coary and odified ae ariable echniqe are ilized. Keyord eleoperaion, Redndan, Real-ie, orce-reflecing, Poiion racking, Malab, Wae Variable, anc LR Mae ib. INRODUCION eleoperaion repreen an area here roboic and conrol are ighly inegraed. I i oly ed in ak here he job o be accoplihed can no be achieed by he han eiher becae he ak i oo dangero for he han or i i o be carried o a a dian ie fro he ain conrol locaion. he robo ha ork in radioacie and hazardo enironen are eaple o he roboic ak ha are ery dangero for he han o accoplih. he robo ha ork in pace eploraion, nderea applicaion or reoe rgery are ypical eaple for eleoperaion here hee ak are ally carried o a a reoe ie. eleoperaion die hae been an area of increaed inere for he pa o decade for eeral reearcher. A ajoriy of he reearch ha foced on he abiliy proble ha arie a a rel of ie delay [-6]. here i alay a conicaion line inoled in eleoperaion ye ince he local conroller (aer robo) and he reoe ye (lae robo) are conneced a all ie. he inforaion flo fro one roboic ye o he oher can be achieed hrogh ario edia inclding he Inerne, inrane, aellie or radio ignal. he coon horcoing of hee conicaion ye i ha hey ill ake he eleoperaion ye eperience ore ignifican ie delay a he diance beeen he conroller and he reoe ye increae. A conrol algorih baed on he ae ariable echniqe ha proided an accepable olion for he ie delay proble [3]. hi algorih baically abilize he aniplaion in he face of ie delay in he conicaion line. eleoperaion can be ineigaed in o bgrop conidering he orkpace of he lae robo. ir bgrop i iled liiedorkpace eleoperaion and he oher i nliied-orkpace eleoperaion. hee bgrop are frher diced in he ne ecion. eleoperaion of a erial indrial roboic ar anfacred by anc, LR Mae ib, i ed in hi ork. hi pecific eleoperaion fall ino he liied-orkpace eleoperaion bgrop. Main foc of hi dy i o ineigae he perforance of poiion racking hile garaneeing he abiliy nder ie delay. he folloing ecion eplain he coary and odified ae ariable echniqe o enhance he poiion racking perforance. eleoperaion e ye i configred a a o-do gibalbaed aer joyick and he iral repreenaion of he lae, anc LR Mae ib ar hich i a fie-do erial robo. Specificaion of boh aniplaor and heir inegraion for e in real-ie e are alo eplained in he folloing ecion. Eperian are condced for conan ie-delayed eleoperaion a ell a for eleoperaion ye eperiencing conicaion lo for liied period. Poiion racking and he abiliy of he eleoperaion are alo eained ing he rel of hee e for he coary ae ariable echniqe and i odified erion.. ELEOPERAION BACKGROUND Roboic engineer ally eploy eleoperaion ye nder o condiion. One condiion i hen i i neceary o accoplih a ak a a dian ie fro he operaor. he oher condiion i here he ak i carried on in an enironen, hich i hazardo for a han o ork in. In boh cae, han operaor i placed a he oher end of he eleoperaion ye, ending ignal o conrol he lae robo ia a aer ye. I can be arized ha he lae robo conrolled by he han - - 7 lorida Conference on Recen Adance in Roboic, CRAR 7 apa, lorida, May 3-Jne, 7
operaor ake place of he han ha i epeced o ork on he ak in eleoperaion ye. hi banially redce he rik o han and he co aociaed ih anned iion hile increaing he preciion. here are any applicaion of he eleoperaion ye. or inance, Japan Naional Inie of Adanced Indrial Science & echnology i dying he grond-pace eleroboic [7]. he dy by Caogl [8] inole ranforing a rgical robo for han elergery. Sii [9] ineigae eleoperaed nanoaniplaion. here are alo nero eaple for iliary, hazardo enironen and nderea eleoperaion. elepreence can be eplained a he qaliy of a eleoperaion eperience. Ideally, he inforaion fro he reoe enironen (ial, aral, hapic, ec.) i diplayed in ch a ay ha he operaor feel a if he/he i acally preen a he reoe enironen. eleoperaion ye can be branched o o ype conidering he concep of elepreence. he lae robo doe no end back any enory inforaion o he aer in nilaeral eleoperaion. In hi ype of eleoperaion, he elepreence concep doe no ei. he eleoperaion ye here he lae end back any ype of enory inforaion i called bilaeral eleoperaion. hi ean ha he inforaion flo i bidirecional. One of he o coon bilaeral eleoperaion i called forcereflecing bilaeral eleoperaion. he lae robo reflec back he ineracion force o he aer ide. he acaor of he aer are hen drien ih he enory inforaion o ake he han operaor feel he lae enironen. Many reearcher idely agree ha haing force-reflecion accopanied ih ial feedback proide fficien elepreence for o of he eleoperaion applicaion []. In hi ork, bilaeral eleoperaion ye are frher ineigaed a liied and nliied-orkpace eleoperaion. eleoperaion ye ing erial or parallel lae aniplaor ih liied-orkpace are conidered a liied-orkpace eleoperaion. eleaniplaion of an indrial robo ar i an eaple o hi ype of eleoperaion. eleoperaion ye copoed of a obile plafor or any nliied-orkpace lae i referred a nliied-orkpace eleoperaion. eleaniplaion of any obile roboic ye heher i operae on grond, aer or in air i groped a nliied-orkpace eleoperaion. I i noed ha he oion apping of he o eleoperaion ype are no he ae. In liied-orkpace eleoperaion, aer poiion inforaion i apped o he Careian poiion of he end-effecor. In nliied-orkpace eleoperaion, he ae poiion inforaion fro he aer i apped a elociy deand for he end-effecor of he lae. herefore, poiion racking i he prioriy for he liied-orkpace cae hile elociy racking i he prioriy for nliied-orkpace eleoperaion. 3. WAVE VARIABLE ECHNIQUE he block diagra in igre belo preen he ae ariable echniqe in er of he caering ranforaion a apping beeen he elociy and force ignal, and he ae ariable [3]. igre. Scaering ranforaion for eleoperaion ih conan ie delay hi ranforaion ing he noaion in [] i decribed a follo: ( b& b ( b& b ( b& b d d ( b& b + ) + ) ) ) here & and & are he repecie elociie of he aer and he lae. h i he orqe applied by he operaor, and e i he orqe applied eernally on he reoe ye. i he force refleced back o he aer fro he lae robo. i he force inforaion en fro he lae o aer. & d i he elociy deried fro he caering ranforaion a he lae ide. he ae ariable are defined by and. he poer, P in, enering a ye can be defined a he calar prodc beeen he inp ecor and he op ecor y. Sch a ye i defined o be paie if and only if he folloing hold: Pin ) yd Eore( ) ore () ( τ E () () here E () i he energy ored a ie and E () i he iniially ored energy. he poer ino he conicaion block a any ie i gien by P ( ) & ( ) ( ) & ( ) ( ) (3) in d d In he cae of he conan conicaion delay here he ie delay i conan, ( ) ( ) ( ) ( ) (4) Sbiing hee eqaion ino (3), and aing ha he iniial energy i zero, he oal energy E ored in conicaion dring he ignal raniion beeen aer and lae i fond a E P ( τ ) dτ ( & ( τ ) ( τ ) & ( τ ) ( τ )) dτ in d ( ( τ ) ( τ ) ( τ ) ( τ ) + ( τ ) ( τ ) d ( τ ) ( τ )) dτ - - 7 lorida Conference on Recen Adance in Roboic, CRAR 7 apa, lorida, May 3-Jne, 7
( ( τ ) ( τ ) + ( τ ) ( τ )) dτ (5) herefore, he ye i paie independen of he agnide of he delay. In oher ord, he ie delay doe no prodce energy if he ae ariable echniqe i ed. herefore, i garanee abiliy for he ie-delayed eleoperaion. or li-do eleoperaion ye, he inp and op fro he aer and he lae are in ecor for: & d & & d ; & y& ; ; d y& y (6) y hee inp and op fro he aer and he lae bye are ranfored o ae ariable ing he B ari for he li-do cae. or he ilaion in hi paper, he ae ipedance ari, B, i eleced o be ncopled a hon belo: b B (7) by Mnir and Book [] rie he ae ranforaion relaion of eqaion in () in ari noaion o generalize i o li-do ye a follo: A & C C here & d A & d & A,,, + B + B D D B,, d C, D, B &, &,, (8) nn R (are nn arice);, n R (are n ecor). A, B, C and D are he caling arice and n i he degreeof-freedo of he eleoperaion ye. In hi paper, n for he eleoperaion ye haing hree degree of freedo. Scaling arice are deerined ing he ipedance ari ( B ), a follo: he econd condiion i hen he eleoperaion ye eperience conicaion failre for liied period a any poin of eleoperaion. In hi ork, i i propoed o end he poiion inforaion of he aer in addiion o he elociy inforaion (hich a copled ih force inforaion o for a ae ariable). A feedforard poiion deand i ed o odify he ae ariable echniqe []. hi deand i en fro he aer ye direcly o he lae ye iho inegraing ino he caering ranfor. he ahor hae no eperienced inabiliy or drif condiion in force ranlaion fro he lae o he aer in heir preio e []. Hence, no feedforard force deand i ed for he aer ide a propoed in [3]. he block diagra of he propoed algorih i gien in igre. igre. Modificaion o ae ariable block diagra. he lae conroller block diagra i alo odified o coply ih he ne eing of he ae ariable echniqe. A obered in igre 3, he poiion error i calclaed in he join pace. he oion deand fro he aer receied in Careian pace i ranfored ino he join pace by ing he inere of he Jacobian, J, and he inere kineaic, IK. Laer, he deand in join pace i copared ih he join enor reading o for join oion error o be fed ino he conroller. hi ype of conroller i of core feaible for hoe aniplaor for hich he inere kineaic olion are eay o obain. ornaely, alo all of he indrial aniplaor are of hi kind [4]. B B A, ( B B ) (9) here ally eleced o be he ae a C i eleced o be he ae a A, and B. D i 4. MODIIED WAVE VARIABLE ECHNIQUE In he preio ecion, i a eplained ha poiion-racking perforance i he prioriy for liied-orkpace eleoperaion. In order o garanee abiliy nder ie delay, he ae ariable echniqe i eployed. hi algorih inole ranlaion of elociy and force inforaion beeen he aer and he lae. herefore, he lae ye i drien ih he elociy deand receied fro he aer. I i foreeen ha poiion drif beeen he aer and he lae oion can be fored nder o condiion. One condiion i he iniializaion of eleoperaion a iaching poiion of he aer and lae. igre 3. Modified lae conroller. In he lae conroller block diagra (igre 3), N i he feedforard orqe inp o conerac he cenrifgal, Corioli and graiaional force coponen. 5. REAL-IME -DO MASER JOYSICK he joyick ha a bil a he Roboic and Aoaion Laboraory of Mechanical Engineering in IU ha ncopled o DO. Boh degree of freedo are copoed of reole join. Each join i deigned o be bedded in beeen o erooor. Hence, join leel fal olerance i achieed by haing o erooor conneced o each link. Each erooor ha an - 3-7 lorida Conference on Recen Adance in Roboic, CRAR 7 apa, lorida, May 3-Jne, 7
encoder conneced o he rear end of i haf. he deailed pecificaion of he brhle erooor are gien in able, and he aer joyick i illraed in igre 4. igre 4. -DO aer joyick able. Specificaion of he ELCOM 444S erooor Paraeer Sy Uni ELCOM Conino orqe oz in. Ma C (N ) (.84) Peak orqe-sall PK oz in 7 (N ) (.5) ricion orqe oz in.5 (N ) (. 3 ) No Load Speed S NL rp 578 (rad/) (65) Roor Ineria J M oz in 6.4 4 (kg ) (4.5 X 6 ) Elecrical ie Con. τ E.8 Mechanical ie τ M 5.5 Con. Vico Dap. - Infinie Sorce Ip. Daping Con Zero Sorce Ip. Ma Winding ep heral Ipedance heral ie Con. Moor Weigh Moor Conan D K D θ MAX R H oz in/krp (N /(rad/)) oz in/krp (N /(rad/)) ( C) /a C/a.38 (.6 6 ).3 (8.3 4 ) 66 (3) 44 (6.7) τ H in..8 W M K M Moor Lengh L oz (Ma) (g) oz in/ W (N / W) in a. ( a.) 7 (48) 4.7 (.87) 4.375 (.) igre 5. ELCOM 444S erooor dienion 6. SLAVE SYSEM DESCRIPION A indicaed earlier, he lae ye i a erial indrial robo, anc LR Mae ib. he anc LR Mae ib i a fie-ai, elecric ero-drien robo. I i capable of a ide ariey of ak in a broad range of indrial and coercial applicaion inclding achine ending and par ranfer procee. anc decribe hi aniplaor o hae high join peed ha aiize hroghp, capabiliy of flipping oer backard for a larger ork enelope, and abole encoder poiioning ha eliinae hoing a poer-p [5]. he link and join paraeer of he aniplaor i preened in able herea able 3 ablae he aniplaor pecificaion. Join able. Link and join paraeer of he anc LR Mae ib α k (deg) k () a k () θ k (deg) -π/ 5 θ 5 θ 3 θ 3 4 8 θ 4 5 π/ θ 5 he erial ar decribed aboe i inegraed ino he eleoperaion ye a a iral repreenaion of he original aniplaor. he concep of Rapid Viral Robo Prooyping ha been preened in [6] o conrc a aniplaor in he Malab ilaion enironen. ha concep ha been ed o conrc he odel for he anc robo. he eleoperaion ak i defined a racing horizonal rface ainaining a poin conac. While racking he conor, he endeffecor i reqired o ainain i orienaion parallel o he noral of he rface. herefore, for he deigned ak only for- DO of he aniplaor are ed. he la (fifh) join i kep a a conan poiion hrogho he e. ir hree join are ed for poiioning hile he forh join i ed o ainain he orienaion of he end-effecor. Dring he aniplaion, if any of he join o, hree or for fail, he orienaion objecie can be acrificed b he poiion racking can be conined. hi redndancy for he pecific eleoperaion ak alo prooe fal olerance in he lae ye. he acal aniplaor and i iral repreenaion a ed in he e are hon in igre 6. - 4-7 lorida Conference on Recen Adance in Roboic, CRAR 7 apa, lorida, May 3-Jne, 7
able 3. Specificaion of he anc LR Mae ib Conrolled ae 5 ae Ma. load capaciy a ri 5kg J 5.59rad (3deg) J 3.3rad (85deg) Moion range J3 6.37rad (365deg) J4 4.9rad (4deg) J5.6rad (7deg) J6 - J 4.9rad/ (4deg/) J 4.7rad/ (7deg/) Ma. peed J3 4.7rad/ (7deg/) J4 5.76rad/ (33deg/) J5 8.38rad/ (48deg/) J6 - Repeaabiliy +/-.4 Mechanical ni a 38kg Arc elding 7. REAL-IME SYSEM INEGRAION GALIL oion conroller i ed for he conrol of he joyick erooor hrogh he coper. An inerface progra for Malab Silink enironen i deeloped o conicae ih he erooor hrogh hi oion conroller [7]. hi inerface enable he daa ranfer beeen he iral enironen and he acal joyick. orce reflecion inforaion ha a creaed in he iral lae ide i forarded o he acal joyick hrogh he inerface. A he oion conroller receie encoder reading fro he erooor of he joyick, hi inforaion i receied a he lae ide again ing hi inerface. A ie ynchronizer i ed o ynchronize he ilaion ie ih he real-ie clock. he e are rn in Hz apling rae ih he configraion decribed aboe. 8. EXPERIMENS he ak for he eperien i defined a racing a horizonal rface ih obacle. hee obacle enable creaion of force inforaion a he han operaor rn ino he operaing he lae. he preence of hee obacle i obered by range enor inead of force enor. he reading fro he range enor are hen ranfored ino force-reflecion daa. he e are perfored a Hz apling rae in real-ie clock. he ie delay for all of he e are e a.5 econd. Coary ae ariable echniqe i ilized for he fir e of eperien [3]. he econd e of eperien eployed he odified ae ariable echniqe decribed in hi paper. or boh e of e, conicaion lo condiion i conidered. Applicaion Spo elding - Handling Sealing X-ai Poiion rack of Maer Slae for Joyick Conicaion On/Off.44 Deand by Maer Slae Repone.4 Reark Aebling Oher Mold releae pray Debrring Conroller i R-J3iB Mae. X-ai Poiion ().4.38.36.34.3 5 5 5 3 35 ie (ec) igre 7. Poiion racking perforance on X-ai ih coary ae ariable echniqe (Conicaion lo occr beeen 5 and 8 ec) igre 6. anc LR Mae ib and i iral repreenaion - 5-7 lorida Conference on Recen Adance in Roboic, CRAR 7 apa, lorida, May 3-Jne, 7
X-ai Poiion () Y-ai Poiion () X-ai Poiion rack of Maer Slae for Joyick Conicaion On/Off.44 Deand by Maer Slae Repone.4.4.38.36.34.3-5 5 5 5 3 35 ie (ec) igre 8. Poiion racking perforance on X-ai ih coary ae ariable echniqe ( -.5 ec) Y-ai Poiion rack of Maer Slae for Joyick Conicaion On/Off.7.6.5.4.3.. -. -. Deand by Maer Slae Repone -.3 5 5 5 3 35 ie (ec) igre 9. Poiion racking perforance on Y-ai ih coary ae ariable echniqe Y-ai Poiion rack of Maer Slae for Joyick Conicaion On/Off.7 Deand by Maer.6 Slae Repone igre 7- ho he poiion racking perforance of he coary ae ariable conrol obained in he fir e of eperien. igre 8 and are deeloped by ploing he lae poiion daa.5 econd prior o i occrrence o hae a clear graph of aer-lae poiion racking perforance. he conicaion lo i realized beeen he 5 h and 8 h econd of he eleaniplaion ak. Dring he conicaion lo, nll daa i receied a he lae ide, hich ake he aniplaor reain in he la poiion before he failre. A he conicaion i reeablihed, he lae ar receiing elociy coand fro he aer b loe i poiion relaie o he aer a obered in he figre. Ne e of graph are deeloped for he eperien condced by ing he odified ae ariable echniqe. X-ai Poiion () X-ai Poiion rack of Maer Slae for Joyick Conicaion On/Off.43 Deand by Maer.4 Slae Repone.4.4.39.38.37.36.35.34.33 5 5 5 3 35 ie (ec) igre. Poiion racking perforance on X-ai ih odified ae ariable echniqe (Conicaion lo beeen 6 and 8 ec) X-ai Poiion rack of Maer Slae for Joyick Conicaion On/Off.43 Deand by Maer.4 Slae Repone.4.4 Y-ai Poiion ().5.4.3.. -. -. -.3-5 5 5 5 3 35 ie (ec) igre. Poiion racking perforance on Y-ai ih coary ae ariable echniqe (-.5 ec) X-ai Poiion ().39.38.37.36.35.34.33-5 5 5 5 3 35 ie (ec) igre. Poiion racking perforance on X-ai ih odified ae ariable echniqe (-.5 ec) - 6-7 lorida Conference on Recen Adance in Roboic, CRAR 7 apa, lorida, May 3-Jne, 7
Y-ai Poiion rack of Maer Slae for Joyick Conicaion On/Off.8 Deand by Maer.7 Slae Repone.6.. orce raniion on X-ai for Joyick Conicaion On/Off Deand by Slae Receied by Maer Y-ai Poiion ().5.4.3. orqe (N).8.6.4. -. 5 5 5 3 35 ie (ec) igre 3. Poiion racking perforance on Y-ai ih odified ae ariable echniqe. 5 5 5 3 35 ie (ec) igre 5. orce racking perforance on X-ai ih odified ae ariable echniqe Y-ai Poiion rack of Maer Slae for Joyick Conicaion On/Off.8 Deand by Maer.7 Slae Repone.6.8.6.4 orce raniion on Y-ai for Mobile Plafor Conicaion On/Off Deand by Slae Receied by Maer Y-ai Poiion ().5.4.3.. -. -5 5 5 5 3 35 ie (ec) igre 4. Poiion racking perforance on Y-ai ih odified ae ariable echniqe (-.5 ec) igre -4 clearly indicae ha he addiion of a feedforard poiion deand copenae for eady ae error, hich can be naed a poiion drif. A 6 econd, he conicaion i iched off and on again a 8 econd. Dring he ie of no conicaion, he lae aniplaor reain in i crren poiion. A he lae ar receiing ignal fro he aer, he eady ae error i copenaed and he poiion racking ree ably. he ne e of figre ho he force ranlaion fro lae o he aer. I i obered fro igre 5 and 6 ha here are no proble in force racking perforance before or afer he conicaion lo phenoenon. orqe (N)...8.6.4. 5 5 5 3 35 ie (ec) igre 6. orce racking perforance on Y-ai ih odified ae ariable echniqe 9. CONCLUSIONS In hi ork, a e ye i deeloped for redndan liiedorkpace eleoperaion. Conan ie-delayed eleoperaion e are condced ing hi e ye. he e indicae ha abiliy of he ye nder he odeled ie delay i enred ih he ae ariable echniqe. While poiion-racking perforance ay ffer fro he anicipaed accracy nder he failre conidered in hi paper, oerall ye abiliy i ill garaneed. Cerain condiion hae increaed he occrrence of drif beeen he aer and lae poiion. hee condiion are lied a iniializaion of he eleaniplaion in rando poiioning, conicaion lo or failre of he ae ariable echniqe for liied period. Addiion of feedforard poiion deand fro he aer a hon o copenae for hee drif hen he aer and lae robo are idenical []. In hi paper, he lae ye ha o ore DO han he aer b i ill ha - 7-7 lorida Conference on Recen Adance in Roboic, CRAR 7 apa, lorida, May 3-Jne, 7
liied orkpace. hi qalifie he eleoperaion ype o be redndan and liied-orkpace eleoperaion. Eperien are condced by ing boh coary and odified ae ariable echniqe. Conicaion lo for liied period i conidered in boh eperien. he rel indicae ha he drif de o failre condiion are copenaed cceflly iho coproiing he ye abiliy by ing he odified ae ariable echniqe decribed in hi paper.. REERENCES [] Mnir, S., Inerne-Baed eleoperaion, Ph.D. Dieraion, Georgia Inie of echnology, Alana, GA,. [] Mnir, S., and Book, W., Inerne-Baed ele-operaion Uing Wae Variable ih Predicion, In IEEE. Mecharonic, pp. 4-33,. [3] Nieeyer, G., Uing Wae Variable in ie Delayed orce Reflecing eleoperaion, Ph.D. hei, MI, Cabridge, MA, 996. [4] Anderon, R. J., and Spong, W., Bilaeral Conrol of eleoperaion ih ie Delay, In IEEE. Aoaion & Conrol, Vol. 34, May 989. [5] Nieeyer, G., and Sloine, J., Uing Wae Variable for Sye Analyi & Robo Conrol, In IEEE ICRA, Albqerqe, NM, April 997. [6] Chopra, N., Spong, M. W., Hirche, S., and B, M., Bilaeral eleoperaion oer he Inerne: he ie Varying Delay Proble, In Proceeding of he Aerican Conrol Conference, Dener, 3. [7] Gohozono, W. K. Y., Kaabe,., Kinai, H., aki, M., Uchiyaa, Y., Oda, M. and Doi, M., Model-Baed Space Robo eleoperaion of ES-VII Maniplaor, in IEEE ranacion on Roboic and Aoaion, Vol. I. 3, pp 6-6, Jne 4. [8] Caogl, M. C., elergery and Srgical Silaion: Deign Modeling, and Ealaion of Hapic Inerface o Real and Viral Srgical Enironen, Ph.D. Dieraion, UC a Berkeley, Berkeley, California,. [9] Sii, M., eleoperaed and Aoaic Conrol of Nanoaniplaion Sye ing Aoic orce Microcope Probe, in IEEE Conference on Deciion and Conrol, Mai, Haaii, Deceber 3. [] anner, A. N., and Nieeyer, G., High-reqency Acceleraion eedback in Wae Variable eleroboic, in IEEE/ASME ranacion on Mecharonic, Vol., No., pp. 9-7, April 6. [] Dede, M. I. C., and onogl, S., Modificaion of he Wae Variable echniqe for eleoperaion Sye Eperiencing Conicaion Lo, 7 h IEEE Inernaional Sypoi on Copaional Inelligence in Roboic and Aoaion, bied, apa, L, Jne 7. [] Dede, M. I. C., and onogl, S., Conrol of eleoperaion Sye Eperiencing Conicaion Loe, Inernaional Jornal of Adanced Roboic Sye, bied, 7. [3] Chopra, N., Spong, M. W., Orega, R., and Barbano, N. E., On racking Perforance in Bilaeral eleoperaion, in IEEE ranacion on Roboic, Vol., No. 4, pp. 86-866, Ag 6. [4] M. K. Özgoren, opological Analyi of 6-Join Serial Maniplaor and heir Inere Kineaic Solion, in Mechani and Machine heory, Vol. 37,, pp. 55-547. [5] anc Roboic hp://.fancroboic.co acceed March 7. [6] M. I. C. Dede, and S. onogl, Viral Rapid Robo Prooyping, in ASME Early Career echnical Jornal, Vole 5, Nber, pp. 7.-7.8, Ocober 6. [7] M. I. C. Dede, and S. onogl, Deelopen of a Real- ie orce-reflecing eleoperaion Sye Baed on Malab Silaion, in Proceeding of he 9h lorida Conference on Recen Adance in Roboic, Miai, lorida, May 5-6, 6. - 8-7 lorida Conference on Recen Adance in Roboic, CRAR 7 apa, lorida, May 3-Jne, 7