Title :
On the use of local force feedback for transparent teleoperation
Author :
Hastrudi-Zaad, K. ; Salcudean, S.E.
Author_Institution :
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
This paper studies the advantages of employing local force feedback for enhanced stability and performance in teleoperation systems. It also shows how a class of three-channel architecture bilateral controllers can provide perfect transparency under ideal conditions. Furthermore, the robustness of the proposed architecture to the communication channel time-delays is analytically investigated. Experimental results are also included to support the theoretical work
Keywords :
delays; force control; force feedback; stability; telerobotics; communication channel; force feedback; robustness; stability; telerobotics; time-delays; transparent teleoperation; Communication channels; Communication system control; Force control; Force feedback; Impedance; Iron; Master-slave; Noise robustness; Robust stability; Velocity control;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770380
