Title :
Experimental studies of a teleoperator system with projection-based force reflection algorithms
Author :
Polushin, Ilia G. ; Liu, Peter X. ; Lung, Chung-Horng
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, ON, Canada
Abstract :
Results of experimental studies of a teleoperator system with projection-based force reflection algorithms in the presence of communication constraints are presented. It is demonstrated that, using the projection-based force reflection algorithms, the admissible force reflection gain can be substantially increased without loosing the overall stability, which confirms the earlier theoretical results. It is also shown that this improvement is achieved without transparency deterioration.
Keywords :
stability; telecontrol; admissible force reflection gain; communication constraint; projection-based force reflection algorithm; stability; teleoperator system; Delay; Force control; Haptic interfaces; Humans; Intelligent robots; Lungs; Reflection; Stability; Teleoperators; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354826
