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| Title | On the use of local force feedback for transparent teleoperation |
| Publication Type | Conference Paper |
| Year of Publication | 1999 |
| Authors | Hastrudi-Zaad, K., and S. E. Salcudean |
| Conference Name | Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on |
| Pagination | 1863 -1869 vol.3 |
| Keywords | communication channel, delays, force control, force feedback, robustness, stability, telerobotics, time-delays, transparent teleoperation |
| 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 |
| URL | http://dx.doi.org/10.1109/ROBOT.1999.770380 |
| DOI | 10.1109/ROBOT.1999.770380 |