Title :
Designing force reflecting teleoperators with large time delays to appear as virtual tools
Author :
Niemeyer, Günter ; Slotine, Jean-Jacques E.
Author_Institution :
Nonlinear Syst. Lab., MIT, Cambridge, MA, USA
Abstract :
We examine the behavior of force reflecting teleoperators which are subjected to large time delays up to several seconds. While stability is guaranteed by the use of passive transmission procedures, such systems can demonstrate particular dynamics which interfere with normal operation. Using the notion of wave variables for the analysis and implementation, and making appropriate design choices, we can construct a telerobot system with consistent and predictable behavior. This follows the design goal of a virtual tool accounting for the implicit limitations imposed by the delay
Keywords :
delays; force control; human factors; motion control; position control; telerobotics; two-term control; virtual reality; consistent behaviour; force reflecting teleoperators; large time delays; passive transmission procedures; predictable behavior; telerobot system; virtual tools; wave variables; Delay effects; Delay systems; Force feedback; Humans; Impedance; Nonlinear systems; Power generation; Propagation delay; Stability; Teleoperators;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619290
