Title :
A study on multiple degree-of-freedom force reflecting teleoperation
Author :
Dede, Mehmet Ismet Can ; Tosunoglu, Sabri ; Repperger, Daniel W.
Author_Institution :
Dept. of Mech. Eng., Florida Int. Univ., Miami, FL, USA
Abstract :
This article reviews the wave variable method as it applies to multi-degree-of-freedom teleoperation systems. To demonstrate the effect of wave variables on the stability of a time-delayed multidegree-of-freedom system, initial simulation results on a three-axis robot are presented. Also the multidegree-of-freedom teleoperation system model developed in the Matlab© environment is described. This model, used in numerical simulations, is also utilized in real-time implementation of the controller.
Keywords :
computerised control; delay systems; position control; real-time systems; telerobotics; force reflecting teleoperation; multiple degree-of-freedom; real-time system; three-axis robot; time-delay system; wave variable method; Control systems; Delay effects; Master-slave; Mathematical model; Mechanical engineering; Medical control systems; Robots; Scattering; Stability; Torque;
Conference_Titel :
Mechatronics, 2004. ICM '04. Proceedings of the IEEE International Conference on
Print_ISBN :
0-7803-8599-3
DOI :
10.1109/ICMECH.2004.1364485
