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Bilateral Teleoperation of Robotic Systems with Predictive Control

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4 Author(s)
Ya-Jun Pan ; Dept. of Mech. Eng., Dalhousie Univ., Halifax, NS ; Gu, J. ; Meng, M. ; Jayachandran, J.

This paper presents a new control approach with prediction to minimize the effects of time delays while ensuring stability and system performance. Two predictors at the slave and master sides are constructed assuming that the time delays in both transmission channels are measurable. Simulation and experimental results are compared with the scheme without prediction to show the effectiveness of this approach. The influence of data dropout to the proposed teleoperation system is studied in the experiment.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007