Improving free space trajectory tracking in wave-variable-based teleoperation

Author

Ye, Yongqiang ; Liu, Peter X. ; Meng, Max Q -H

Author_Institution

Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, ON

fYear

2008

fDate

4-7 May 2008

Abstract

In wave-variable-based teleoperation systems, the trajectory tracking is not guaranteed due to a bias term introduced by the wave-variable-based communication channel. This paper proposes a new method that can improve the trajectory tracking performance in free space motion. In this approach, the forward wave is augmented by the user perceived force and slave control force. Passivity of the augmented teleoperation system can be maintained by tuning the bandwidths of two low-pass filters. Passivity analysis and simulation results demonstrate the effectiveness of the scheme.

Keywords

low-pass filters; manipulators; position control; telerobotics; augmented teleoperation system; free space trajectory tracking; low-pass filters; slave control force; user perceived force; wave-variable-based teleoperation; Band pass filters; Communication channels; Cutoff frequency; Force control; Low pass filters; Master-slave; Teleoperators; Tracking; Trajectory; Virtual manufacturing; Teleoperation; low-pass filter; passivity; trajectory tracking; wave variable;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 2008. CCECE 2008. Canadian Conference on

Conference_Location

Niagara Falls, ON

ISSN

0840-7789

Print_ISBN

978-1-4244-1642-4

Electronic_ISBN

0840-7789

Type

conf

DOI

10.1109/CCECE.2008.4564904

Filename

4564904