Bilateral teleoperation with reducing wave-based reflections
Source abstract
Abstract
This paper presents a wave-based bilateral teleoperation structure to reduce the wave reflection and enhance the force and speed tracking performance through adjusting the relative parameters. A time domain passive approach is also applied to deal with the passivity of whole system even with non passive environment. The efficiency of the proposed method is confirmed by some experimental results.
Source: openaire · Quality: candidate unverified · Source record ↗
Research context
OpenAlex topics: Teleoperation and Haptic Systems · Tactile and Sensory Interactions · Geophysics and Sensor Technology
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
References (12)
Show source-provided references
1. Anderson R, Spong M (1989) Asymptotic stability for force reflecting teleoperators with time delay. In: Proceedings of IEEE international conference on robotic automation, pp 1618–162510.1109/ROBOT.1989.100209 ↗
2. Anderson R, Spong M (1989) Bilateral control of teleoperators with time delay. IEEE Trans Autom Control 34(5):494–50110.1109/9.24201 ↗
3. Niemeyer G, Slotine J (1991) Stable adaptive teleoperation. IEEE J Ocean Eng 16(1):152–16210.1109/48.64895 ↗
4. Hokayem PF, Spong MW (2006) Bilateral teleoperation: an historical survey. Automatica 42(2):2035–205710.1016/j.automatica.2006.06.027 ↗
5. Tian D, Yashiro D, Ohnishi K (2012) Haptic transmission by weighting control under time-varying communication delay. IET Control Theory 6(3):420–42910.1049/iet-cta.2011.0164 ↗
6. Kenji N, Toshiaki T, Kouhei O (2010) Time-delay compensation by communication disturbance observer for bilateral teleoperation under time-varying delay. IEEE Trans Ind Electron 57(3):1050–106210.1109/TIE.2009.2028337 ↗
7. Nuno E, Basanez L, Ortega R et al (2009) Position tracking for nonlinear teleoperators with variable time delay. J Robot Res 28(7):895–91010.1177/0278364908099461 ↗
8. Kawashima K, Tadano K, Wang C et al (2009) Bilateral teleoperation with time delay using modified wave variable based controller. In: Proceedings of IEEE international conference on robotic automation, pp 4326–4331
9. Chopra N, Berestesky P, Spong MW (2008) Bilateral teleoperation over unreliable communication networks. IEEE Trans Control Syst Technol 16(2):304–31310.1109/TCST.2007.903397 ↗
10. Huijun L, Aiguo S (2008) Virtual-environment modeling and correction for force reflecting teleoperation with time delay. IEEE Trans Ind Electron 16(2):304–313
11. Bate L, Cook CD, Li Z (2011) Reducing wave-based teleoperator reflections for unknown environments. IEEE Trans Ind Electron 58(2):392–39710.1109/TIE.2009.2035994 ↗
12. Blake H, Jee HR (2002) Time-domain passivity control of haptic interfaces. IEEE Trans Robot Autom 18(1):1–1010.1109/70.988969 ↗