TY - GEN
T1 - Bilateral teleoperation with time delay using modified wave variable based controller
AU - Kawashima, Kenji
AU - Tadano, Kotaro
AU - Wang, Cong
AU - Sankaranarayanan, Ganesh
AU - Hannaford, Blake
PY - 2009
Y1 - 2009
N2 - Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. Wave-variable-based controllers can support the stable operation of force-reflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. We had previously proposed a modified wave variable controller that implemented additional wave impedance in the wave variable transformations in order to focus more closely on force tracking. In this paper, we present a new controller for bilateral teleoperators based on the modified wave variable control method which provides superior position and force tracking performance compared to the traditional wavevariable- based method. Moreover, the method has high stability. Theoretical investigation and experimental results confirm the performance of this new controller.
AB - Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. Wave-variable-based controllers can support the stable operation of force-reflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. We had previously proposed a modified wave variable controller that implemented additional wave impedance in the wave variable transformations in order to focus more closely on force tracking. In this paper, we present a new controller for bilateral teleoperators based on the modified wave variable control method which provides superior position and force tracking performance compared to the traditional wavevariable- based method. Moreover, the method has high stability. Theoretical investigation and experimental results confirm the performance of this new controller.
UR - http://www.scopus.com/inward/record.url?scp=70350374055&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70350374055&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2009.5152356
DO - 10.1109/ROBOT.2009.5152356
M3 - Conference contribution
AN - SCOPUS:70350374055
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4326
EP - 4331
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -