Title :
Stable bilateral teleoperation using the energy-bounding algorithm: Basic idea and feasibility tests
Author :
Seo, Changhoon ; Kim, Jaeha ; Kim, Jong-Phil ; Yoon, Joo Hong ; Ryu, Jeha
Author_Institution :
Human-Machine-Comput. Interface Lab., Gwangju Inst. of Sci. & Technol., Gwangju
Abstract :
This paper presents basic idea and feasibility test results of the energy-bounding algorithm (EBA) for bilateral teleoperation. Various test results for free, contact, and abrupt motions show that the EBA can ensure stable bilateral teleoperation for the fairy large constant/variable time delays (2.5 sec for free motion and 300 msec for contact motion). In addition, the EBA with holding previous data strategy can achieve stable teleoperation when some packet drop is occurred during the data transmission.
Keywords :
delays; stability; telerobotics; data transmission; energy-bounding algorithm; stable bilateral teleoperation; time delays; Control systems; Data communication; Delay effects; Haptic interfaces; Humans; Master-slave; Orbital robotics; Robots; Stability; Testing; Bilateral Teleoperation control; Energy-bounding Algorithm (EBA); Variable time delay;
Conference_Titel :
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location :
Xian
Print_ISBN :
978-1-4244-2494-8
Electronic_ISBN :
978-1-4244-2495-5
DOI :
10.1109/AIM.2008.4601683
