DocumentCode
2244911
Title
Impedance reflecting rate mode teleoperation
Author
Mobasser, F. ; Hashtrudi-Zaad, K. ; Salcudean, S.E.
Author_Institution
Dept. of Electr. & Comput. Eng., Queen´´s Univ., Canada
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
3296
Abstract
Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for the exchange of derivatives and integral of measured positions and forces. This paper proposes a new control architecture designed based on the environment impedance reflection concept. The performance of this controller is compared to that of a conventional controller, under different operational conditions using both analytical methods and numerical simulations.
Keywords
optimal control; robot dynamics; telecontrol; telerobotics; control architecture design; impedance matching; impedance reflection concept; impedance reflection rate mode; stability; time-domain performance; transparent teleoperation; Communication system control; Control systems; Delay; Force measurement; Impedance; Kinematics; Master-slave; Recursive estimation; Reflection; Working environment noise;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242099
Filename
1242099
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