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 |