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Experimental studies of a teleoperator system with projection-based force reflection algorithms

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3 Author(s)
Polushin, I.G. ; Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, ON, Canada ; Liu, P.X. ; Chung-Horng Lung

Results of experimental studies of a teleoperator system with projection-based force reflection algorithms in the presence of communication constraints are presented. It is demonstrated that, using the projection-based force reflection algorithms, the admissible force reflection gain can be substantially increased without loosing the overall stability, which confirms the earlier theoretical results. It is also shown that this improvement is achieved without transparency deterioration.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009