Title :
Stable tracking in variable time-delay teleoperation
Author :
Benedetti, Carlo ; Franchini, Matteo ; Fiorini, Paolo
Author_Institution :
Dipt. di Informatica, Universita degli Studi di Verona, Italy
Abstract :
Describes an improved architecture, for the control of force-feedback teleoperation in the presence of variable communication time-delay between the master and the slave. It is based on wave variable transformations and identification of time delay properties. This scheme achieves better position and force tracking than similar architectures, by estimating the current value of time delay and compensating its variations by adjusting a single control parameter. We derive some of the analytical properties of this scheme, and we show system performance by simulating a simple Internet-based teleoperation system
Keywords :
Internet; compensation; delays; force control; force feedback; position control; telerobotics; tracking; Internet-based teleoperation system; force tracking; force-feedback teleoperation; position tracking; stable tracking; variable time-delay teleoperation; wave variable transformations; Communication system control; Delay effects; Delay estimation; Displays; Force control; Force feedback; Internet; Master-slave; Robots; System performance;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976405
