Name
Title | ||
|---|---|---|
Bilateral teleoperation with time delay using modified wave variable based controller |
Abstract | ||
|---|---|---|
Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. Wave-variable-based controllers can support the stable operation of force-reflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. We had previously proposed a modified wave variable controller that implemented additional wave impedance in the wave variable transformations in order to focus more closely on force tracking. In this paper, we present a new controller for bilateral teleoperators based on the modified wave variable control method which provides superior position and force tracking performance compared to the traditional wave-variable-based method. Moreover, the method has high stability. Theoretical investigation and experimental results confirm the performance of this new controller. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBOT.2009.5152356 | ICRA |
Keywords | Field | DocType |
waves | Teleoperation,Wave impedance,Control theory,Control theory,Simulation,Control engineering,Electrical impedance,Operator (computer programming),Engineering,Probability density function,Telerobotics | Conference |
Volume | Issue | ISSN |
2009 | 1 | 1050-4729 E-ISBN : 978-1-4244-2789-5 |
ISBN | Citations | PageRank |
978-1-4244-2789-5 | 4 | 0.63 |
References | Authors | |
6 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kenji Kawashima | 1 | 72 | 10.24 |
| Kotaro Tadano | 2 | 57 | 10.05 |
| Cong Wang | 3 | 15 | 1.55 |
| Ganesh Sankaranarayanan | 4 | 175 | 24.85 |
| Blake Hannaford | 5 | 2527 | 516.26 |