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Bilateral Teleoperation of Robotic Systems with Predictive Control

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4 Author(s)
Ya-Jun Pan ; Department of Mechanical Engineering, Dalhousie University, Halifax, Nova Scotia, Canada B3J 2X4. E-mail: Yajun.Pan@Dal.Ca ; Jason Gu ; Max Meng ; Jayaprashanth Jayachandran

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:

Proceedings 2007 IEEE International Conference on Robotics and Automation

Date of Conference:

10-14 April 2007