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Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system

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2 Author(s)
Mobasser, F. ; Dept. of Electr. & Comput. Eng., Queen''s Univ., Canada ; Hashtrudi-Zaad, K.

Transparent teleoperation under rate mode has proven to be difficult in terms of stability, performance and implementation. This is mainly due to the need for exchange of derivatives and integrals of measured positions and forces. This paper proposes and implements a new control architecture designed based on the environment impedance reflecting controller previously developed. The performance of this new controller, implemented on a haptic simulation test-bed, is compared to that of a conventional controller under different operational conditions.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:2 )

Date of Conference:

April 26-May 1, 2004