Title :
Study of teleoperation using realtime communication network emulation
Author :
Hirche, Sandra ; Buss, Martin
Author_Institution :
Fac. of Electr. Eng. & Comput. Sci., Berlin Tech. Univ., Germany
Abstract :
The stability and performance of telepresence systems with kinesthetic (force) feedback operated via a communication network mainly depends on the quality (delay, bandwidth) of communication. The combined position/force control of teleoperation system with time delay using impedance matching filters to achieve robust passivity for the teleoperator/environment and transparency is discussed. The impedance matching filter design is the result of optimization in the frequency domain. An experimental telepresence system using realtime communication network emulation is used to show the validity of the proposed approach.
Keywords :
delays; filters; force control; force feedback; haptic interfaces; local area networks; optimisation; position control; real-time systems; telerobotics; time-domain analysis; combined position/force control; communications quality; frequency domain optimization; impedance matching filters; kinesthetic feedback; realtime communication network emulation; robust passivity; teleoperation study; teleoperator; telepresence systems; time delay; Band pass filters; Bandwidth; Communication networks; Delay effects; Emulation; Force control; Force feedback; Impedance matching; Matched filters; Stability;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225160
