ICRA '99: IEEE International Conference on Robotics and Automation, Vols 1-4, Proceedings
Pagination
1863–1869
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.