Teleprogramming: towards delay-invariant remote manipulation
Teleprogramming: towards delay-invariant remote manipulation
Efficient Transport Protocol for Networked Haptics Applications
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Bilateral Control Architecture for Telerobotics Systems in Unknown Environments
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Transparency Analysis of Bilateral Controllers Based on the Methodology of State Convergence
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Teleoperation of a Robot Using a Haptic Device with Different Kinematics
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Bilateral controller design based on transparency in the state convergence framework
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Passivity-based control for bilateral teleoperation: A tutorial
Automatica (Journal of IFAC)
Bilateral control by state convergence based on transparency for systems with time delay
Robotics and Autonomous Systems
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In this paper a generalized design and control method for teleoperation systems with communication time delay is presented. The design method is based on the state space formulation and it allows to obtain the control parameters for any teleoperation system where the master and the slave manipulators would be represented by nth-order linear differential equations. Through state convergence between the master and the slave, the control system allows the slave to follow the master inspite of the time delay. The method is also able to establish the desired dynamics of this convergence and the dynamics of the slave manipulator. Experimental results are presented showing the validity of the proposed design and control method.