Experiments with transparent teleoperation under position and rate control

TitleExperiments with transparent teleoperation under position and rate control
Publication TypeConference Paper
Year of Publication1999
AuthorsZhu, W. - H., S. E. Salcudean, and M. Zhu
Conference NameRobotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Pagination1870 -1875 vol.3
Keywordsdata transmission, force control, kinematics, master-slave systems, position control, rate control, robot kinematics, stability, telerobotics, transparency, transparent teleoperation, unilateral constraint correction
Abstract

A four-channel data transmission structure has been proposed in the literature to achieve ldquo;transparency rdquo; for master-slave teleoperator systems under both position and rate control. In this paper, experimental results for a one degree-of-freedom system are given to demonstrate that the proposed scheme possesses good stability and transparency under both position and rate control in contact with both flexible and rigid environments. A unilateral constraint correction under rate control is also discussed

URLhttp://dx.doi.org/10.1109/ROBOT.1999.770381
DOI10.1109/ROBOT.1999.770381

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