Title :
A method for reducing wave based teleoperator reflections
Author :
Bate, L.H. ; Cook, C.D. ; Li, Z.
Author_Institution :
Sch. of Electr., Comput. & Telecommun. Eng., Univ. of Wollongong, Wollongong, NSW
Abstract :
Wave variables guarantee stability for delayed teleoperation. They also introduce reflections which can prove very disorientating for an operator. This paper presents a new method for reducing the wave reflections when operating in nonlinear and unknown environments. Simulations and laboratory experiments shows the new method does not only guarantee stability but also reduce wave reflections allowing for improved velocity tracking and force feedback.
Keywords :
telecommunication; wave digital filters; teleoperation; wave based teleoperator reflections; wave reflections; Damping; Delay effects; Filters; Impedance; Master-slave; Propagation delay; Reflection; Stability; Teleoperators; Virtual manufacturing;
Conference_Titel :
Industrial Technology, 2009. ICIT 2009. IEEE International Conference on
Conference_Location :
Gippsland, VIC
Print_ISBN :
978-1-4244-3506-7
Electronic_ISBN :
978-1-4244-3507-4
DOI :
10.1109/ICIT.2009.4939746
