TY - GEN
T1 - Bilateral teleoperation with time delay using modified wave variables
AU - Kawashima, Kenji
AU - Tadano, Kotaro
AU - Sankaranarayanan, Ganesh
AU - Hannaford, Blake
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=69549103175&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549103175&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4650929
DO - 10.1109/IROS.2008.4650929
M3 - Conference contribution
AN - SCOPUS:69549103175
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 424
EP - 429
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -