Title :
Transparency in the bilateral control methodology by state convergence
Author :
Azorín, José M. ; Sabater, José M. ; García, Nicolás M. ; Pérez, Carlos ; Aracil, Rafael
Author_Institution :
Virtual Reality & Robotics Lab, Univ. Miguel Hernandez de Elche
Abstract :
This paper shows that the bilateral control methodology based in the state convergence can be used to achieve transparency in teleoperation systems with communication time delay. The paper explains that through the correct selection of some design parameters, a bilateral control system that verify the transparency property can be obtained. In order to verify that the transparency is achieved, different simulation results are presented considering a teleoperation system of 1 dof
Keywords :
convergence; telecontrol; bilateral control; communication time delay; state convergence; teleoperation system; transparency; Asymptotic stability; Communication channels; Communication system control; Control systems; Convergence; Delay effects; Force control; Master-slave; Robot sensing systems; Virtual reality;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776643
