DocumentCode
2260771
Title
An analysis of sampling effect on bilateral teleoperation system transparency
Author
Yang, Ting ; Fu, Yi Li ; Tavakoi, Mahdi
Author_Institution
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, Heilongjiang, 150080, China
fYear
2015
fDate
28-30 July 2015
Firstpage
5896
Lastpage
5900
Abstract
The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance.
Keywords
Control systems; Force; Gain; Iron; Stability analysis; Teleoperators; Bilateral teleoperation; continuous-time control; discrete-time control; hybrid parameters; system performance;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2015 34th Chinese
Conference_Location
Hangzhou, China
Type
conf
DOI
10.1109/ChiCC.2015.7260563
Filename
7260563
Link To Document