Time Delay Compensation in Bilateral Teleoperations Using IMPACT

Author

Denasi, Alper ; Kostic, Dragan ; Nijmeijer, H.

Author_Institution

Dept. of Mech. Eng., Tech. Univ. Eindhoven, Eindhoven, Netherlands

Volume

21

Issue

3

fYear

2013

fDate

May-13

Firstpage

704

Lastpage

715

Abstract

Teleoperated systems may be subject to destabilizing and performance degrading effects due to time delays. An appealing remedy is an application of the internal model principle and control together (IMPACT) structure as it is done in this paper in the problem of position-error-based bilateral teleoperation. The IMPACT algorithm proposed in this paper allows time-delay compensation and rejection of disturbances from a known class that act at the output of the slave manipulator. Simulation and experimental results illustrate the effectiveness of the algorithm.

Keywords

compensation; delay systems; manipulators; telerobotics; IMPACT structure; appealing remedy; control together structure; internal model principle; position-error-based bilateral teleoperation; slave manipulator; teleoperated system; time delay compensation; Communication channels; Delay effects; Friction; Manipulator dynamics; Polynomials; Transfer functions; Disturbance rejection; impact structure; position-error-based bilateral teleoperation; robust stability; smith predictor; time-delay compensation;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2012.2191153

Filename

6178006