Improved algorithms for synchronizing computer network clocks
IEEE/ACM Transactions on Networking (TON)
Linear System Theory and Design
Linear System Theory and Design
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Control System Design
Stability of Time-Delay Systems
Stability of Time-Delay Systems
Transparency and Stability of Bilateral Kinesthetic Teleoperation with Time-Delayed Communication
Journal of Intelligent and Robotic Systems
Improving Perception in Time-delayed Telerobotics
International Journal of Robotics Research
Passive bilateral control and tool dynamics rendering for nonlinear mechanical teleoperators
IEEE Transactions on Robotics
Modeling and control of cooperative teleoperation systems
IEEE Transactions on Robotics
Passive Bilateral Teleoperation With Constant Time Delay
IEEE Transactions on Robotics
On tracking performance in bilateral teleoperation
IEEE Transactions on Robotics
Model Predictive Control for Transparent Teleoperation Under Communication Time Delay
IEEE Transactions on Robotics
Improved transparency in bilateral teleoperation with variable time delay
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Adaptive Control of Bilateral Teleoperation with Time Delay
International Journal of Intelligent Mechatronics and Robotics
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Recently, within a centralized control framework, the authors proposed a time-delay reduction method to achieve improved transparency in time-delay teleoperation. In this paper, a decentralized version of the controller is introduced that can further enhance the teleoperation transparency and robust stability by allowing the use of local delay-free measurements in local master/slave controllers. State/observation transformations are proposed that produce delay-free dynamics/measurements from the perspective of the local controllers at the master and slave stations. It is shown that the use of local suboptimal linear quadratic Gaussian master and slave controllers results in a delayed state perturbation term in the closed-loop dynamics. The stability of the system is then analyzed using a delay-dependent frequency sweeping test. The controllers employ a simple switching logic to handle large variations in the environment dynamics from free motion to rigid contact. The performance and robustness of the new decentralized controller are compared with those of the centralized controller using numerical analysis. Experimental results demonstrate the effectiveness of the proposed approach.