On the use of local force feedback for transparent teleoperation

TitleOn the use of local force feedback for transparent teleoperation
Publication TypeJournal Article
Year of Publication1999
AuthorsHashtrudi-Zaad, K., and S. E. Salcudean
JournalICRA '99: IEEE International Conference on Robotics and Automation, Vols 1-4, Proceedings
Pagination1863–1869
Abstract

This paper studies the advantages of employing local force feedback for enhanced stability and performance in teleoperation systems. It also shows how a class of three-channel architecture bilateral controllers can provide perfect transparency under ideal conditions. Furthermore, the robustness of the proposed architecture to the communication channel time-delays is analytically investigated. Experimental results are also included to support the theoretical work.

a place of mind, The University of British Columbia

Electrical and Computer Engineering
2332 Main Mall
Vancouver, BC Canada V6T 1Z4
Tel +1.604.822.2872
Fax +1.604.822.5949
Email:

Emergency Procedures | Accessibility | Contact UBC | © Copyright 2020 The University of British Columbia