Title :
Theoretical and experimental overview of bilateral teleoperation control laws
Author :
Marcassus, Nicolas ; Chriette, Abdelhamid ; Gautier, Maxime
Author_Institution :
IRCCyN, Nantes Univ.
Abstract :
This paper presents the application and the comparison of bilateral teleoperation laws applied on a device made of two industrial systems equipped with force sensors. Theoretical study of these kinesthetic couplings were carried on and experimental results are presented showing forces interactions during movements. A poor connection is found between the accuracy of the force sensor and the quality of the haptic feedback
Keywords :
couplings; force feedback; force sensors; haptic interfaces; industrial manipulators; position control; telerobotics; bilateral teleoperation control laws; force sensors; haptic feedback; industrial systems; kinesthetic couplings; master-slave manipulators; position control; Communication system control; Control systems; Defense industry; Digital signal processing; EMP radiation effects; Fasteners; Force sensors; Haptic interfaces; Master-slave; Stability;
Conference_Titel :
Control and Automation, 2006. MED '06. 14th Mediterranean Conference on
Conference_Location :
Ancona
Print_ISBN :
0-9786720-1-1
Electronic_ISBN :
0-9786720-0-3
DOI :
10.1109/MED.2006.328766
