Study of teleoperation using realtime communication network emulation

Author

Hirche, Sandra ; Buss, Martin

Author_Institution

Fac. of Electr. Eng. & Comput. Sci., Berlin Tech. Univ., Germany

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

586

Abstract

The stability and performance of telepresence systems with kinesthetic (force) feedback operated via a communication network mainly depends on the quality (delay, bandwidth) of communication. The combined position/force control of teleoperation system with time delay using impedance matching filters to achieve robust passivity for the teleoperator/environment and transparency is discussed. The impedance matching filter design is the result of optimization in the frequency domain. An experimental telepresence system using realtime communication network emulation is used to show the validity of the proposed approach.

Keywords

delays; filters; force control; force feedback; haptic interfaces; local area networks; optimisation; position control; real-time systems; telerobotics; time-domain analysis; combined position/force control; communications quality; frequency domain optimization; impedance matching filters; kinesthetic feedback; realtime communication network emulation; robust passivity; teleoperation study; teleoperator; telepresence systems; time delay; Band pass filters; Bandwidth; Communication networks; Delay effects; Emulation; Force control; Force feedback; Impedance matching; Matched filters; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225160

Filename

1225160