Stable tracking in variable time-delay teleoperation

Author

Benedetti, Carlo ; Franchini, Matteo ; Fiorini, Paolo

Author_Institution

Dipt. di Informatica, Universita degli Studi di Verona, Italy

Volume

4

fYear

2001

fDate

2001

Firstpage

2252

Abstract

Describes an improved architecture, for the control of force-feedback teleoperation in the presence of variable communication time-delay between the master and the slave. It is based on wave variable transformations and identification of time delay properties. This scheme achieves better position and force tracking than similar architectures, by estimating the current value of time delay and compensating its variations by adjusting a single control parameter. We derive some of the analytical properties of this scheme, and we show system performance by simulating a simple Internet-based teleoperation system

Keywords

Internet; compensation; delays; force control; force feedback; position control; telerobotics; tracking; Internet-based teleoperation system; force tracking; force-feedback teleoperation; position tracking; stable tracking; variable time-delay teleoperation; wave variable transformations; Communication system control; Delay effects; Delay estimation; Displays; Force control; Force feedback; Internet; Master-slave; Robots; System performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.976405

Filename

976405