Designing force reflecting teleoperators with large time delays to appear as virtual tools

Author

Niemeyer, Günter ; Slotine, Jean-Jacques E.

Author_Institution

Nonlinear Syst. Lab., MIT, Cambridge, MA, USA

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2212

Abstract

We examine the behavior of force reflecting teleoperators which are subjected to large time delays up to several seconds. While stability is guaranteed by the use of passive transmission procedures, such systems can demonstrate particular dynamics which interfere with normal operation. Using the notion of wave variables for the analysis and implementation, and making appropriate design choices, we can construct a telerobot system with consistent and predictable behavior. This follows the design goal of a virtual tool accounting for the implicit limitations imposed by the delay

Keywords

delays; force control; human factors; motion control; position control; telerobotics; two-term control; virtual reality; consistent behaviour; force reflecting teleoperators; large time delays; passive transmission procedures; predictable behavior; telerobot system; virtual tools; wave variables; Delay effects; Delay systems; Force feedback; Humans; Impedance; Nonlinear systems; Power generation; Propagation delay; Stability; Teleoperators;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619290

Filename

619290