By Topic

Force-reflecting bilateral teleoperation with time delay by signal filtering

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
J. Ueda ; Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan ; T. Yoshikawa

This paper presents a force-reflecting teleoperation scheme with time delay. Considering reciprocal systems, the necessary and sufficient condition of the stability of the proposed type and several conventional types are analytically investigated. It is shown that the stability is not guaranteed under force feedback for a time-delayed system unless the ideal response is strictly realized, although wave transmission is applied. This problem is solved by signal filtering. The validity of the proposed type is confirmed by experiments in contacting a solid wall.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:20 ,  Issue: 3 )