Bilateral teleoperation with time delay using modified wave variable based controller

Kenji Kawashima, Kotaro Tadano, Cong Wang, 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. 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 wavevariable- based method. Moreover, the method has high stability. Theoretical investigation and experimental results confirm the performance of this new controller.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages4326-4331
Number of pages6
DOIs
StatePublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/TerritoryJapan
CityKobe
Period5/12/095/17/09

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

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

Cite this