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Bilateral teleoperation with time delay using modified wave variable based controller

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5 Author(s)
Kawashima, K. ; Precision & Intell. Lab., Tokyo Inst. of Technol., Tokyo, Japan ; Tadano, K. ; Cong Wang ; Sankaranarayanan, G.
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Force-reflecting teleoperators in which the remote environment is kinesthetically coupled to the operator can considerably increase task performance. Wave-variable-based controllers can support the stable operation of force-reflecting teleoperators under arbitrary communication delays. Transparency in such systems is compromised in order to maintain stability. We had previously proposed a modified wave variable controller that implemented additional wave impedance in the wave variable transformations in order to focus more closely on force tracking. In this paper, we present a new controller for bilateral teleoperators based on the modified wave variable control method which provides superior position and force tracking performance compared to the traditional wave-variable-based method. Moreover, the method has high stability. Theoretical investigation and experimental results confirm the performance of this new controller.

Published in:

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Date of Conference:

12-17 May 2009