DocumentCode
2610889
Title
Stable bilateral teleoperation using the energy-bounding algorithm: Basic idea and feasibility tests
Author
Seo, Changhoon ; Kim, Jaeha ; Kim, Jong-Phil ; Yoon, Joo Hong ; Ryu, Jeha
Author_Institution
Human-Machine-Comput. Interface Lab., Gwangju Inst. of Sci. & Technol., Gwangju
fYear
2008
fDate
2-5 July 2008
Firstpage
335
Lastpage
340
Abstract
This paper presents basic idea and feasibility test results of the energy-bounding algorithm (EBA) for bilateral teleoperation. Various test results for free, contact, and abrupt motions show that the EBA can ensure stable bilateral teleoperation for the fairy large constant/variable time delays (2.5 sec for free motion and 300 msec for contact motion). In addition, the EBA with holding previous data strategy can achieve stable teleoperation when some packet drop is occurred during the data transmission.
Keywords
delays; stability; telerobotics; data transmission; energy-bounding algorithm; stable bilateral teleoperation; time delays; Control systems; Data communication; Delay effects; Haptic interfaces; Humans; Master-slave; Orbital robotics; Robots; Stability; Testing; Bilateral Teleoperation control; Energy-bounding Algorithm (EBA); Variable time delay;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location
Xian
Print_ISBN
978-1-4244-2494-8
Electronic_ISBN
978-1-4244-2495-5
Type
conf
DOI
10.1109/AIM.2008.4601683
Filename
4601683
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