On the use of local force feedback for transparent teleoperation

TitleOn the use of local force feedback for transparent teleoperation
Publication TypeConference Paper
Year of Publication1999
AuthorsHastrudi-Zaad, K., and S. E. Salcudean
Conference NameRobotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Pagination1863 -1869 vol.3
Keywordscommunication channel, delays, force control, force feedback, robustness, stability, telerobotics, time-delays, transparent teleoperation

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


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