• DocumentCode
    2691593
  • 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
  • fYear
    2009
  • fDate
    10-15 Oct. 2009
  • Firstpage
    5127
  • Lastpage
    5132
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/IROS.2009.5354826
  • Filename
    5354826
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2691593