Conference Proceeding

Bilateral teleoperation under time-varying delay using wave variables

Perceptual Robot. Lab. (PERCRO), Sant'Anna Super. Sch. of Adv. Studies, Pisa, Italy
11/2009; DOI:10.1109/IROS.2009.5354744 In proceeding of: Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Source: IEEE Xplore

ABSTRACT Any teleoperation system involving two distant devices is affected by communication delay due to the physical gap between the devices. Several approaches based on wave variables have already been proposed to deal with time-varying delay. However, these approaches are too conservative resulting in high degradation from the constant time delay case. In this paper, we propose a new control scheme for bilateral teleoperation under time-varying communication delay entirely developed in the wave variables domain. The proposed method minimizes the performance degradation from the constant time delay case. Experimental results show the validity of the proposed scheme.

0 0
 · 
0 Bookmarks
 · 
41 Views
Data provided are for informational purposes only. Although carefully collected, accuracy cannot be guaranteed. The impact factor represents a rough estimation of the journal's impact factor and does not reflect the actual current impact factor. Publisher conditions are provided by RoMEO. Differing provisions from the publisher's actual policy or licence agreement may be applicable.

Keywords

approaches
 
communication delay
 
constant time delay case
 
devices
 
distant devices
 
Experimental results
 
new control scheme
 
physical gap
 
proposed method minimizes
 
teleoperation system
 
time-varying communication delay
 
time-varying delay
 
wave variables
 
wave variables domain