Bilateral teleoperation with time delay using modified wave variables

Kenji Kawashima, Kotaro Tadano, Ganesh Sankaranarayanan, Blake Hannaford

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. However, wave-variable-based controllers can support the stable operation of forcereflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. In this paper, we present a new controller for bilateral teleoperators based on the wave variable control method which provides superior force tracking performance compared to the traditional wave-variable-based method. Additionally, this method also improves the phase delay induced by the latency in the communication network. Both simulation and experimental results confirm the performance of this new controller.

Original languageEnglish (US)
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages424-429
Number of pages6
DOIs
StatePublished - 2008
Externally publishedYes
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Publication series

Name2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

Conference2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Country/TerritoryFrance
CityNice
Period9/22/089/26/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Bilateral teleoperation with time delay using modified wave variables'. Together they form a unique fingerprint.

Cite this