Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation

TitleTransparency in time-delayed systems and the effect of local force feedback for transparent teleoperation
Publication TypeJournal Article
Year of Publication2002
AuthorsHashtrudi-Zaad, K., and S. E. Salcudean
JournalRobotics and Automation, IEEE Transactions on
Volume18
Pagination108 -114
Date Publishedfeb.
ISSN1042-296X
Keywordsdelay stability robustness, delays, feedforward, force feedback, force feedforward control parameter bounds, local force feedback, performance, robust control, telerobotics, three-channel control architectures, transparent time-delayed teleoperation
Abstract

This paper first investigates the issue of transparency in time-delayed teleoperation. It then studies the advantages of employing local force feedback for enhanced stability and performance. In addition, two classes of three-channel control architectures, that are perfectly transparent under ideal conditions are introduced. The stability robustness of the proposed architectures to delays is rigorously analyzed, leading to certain bounds on force feedforward control parameters. Experimental results are included in support of the theoretical work

URLhttp://dx.doi.org/10.1109/70.988981
DOI10.1109/70.988981

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