Stable adaptive teleoperation
- 1 January 1991
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Journal of Oceanic Engineering
- Vol. 16 (1) , 152-162
- https://doi.org/10.1109/48.64895
Abstract
A study is made of how the existence of transmission time delays affects the application of advanced robot control schemes to effective force-reflecting telerobotic systems. This application best exploits the presence of the human operator while making full use of available robot control technology and computing power. A physically motivated, passivity-based formalism is used to provide energy conservation and stability guarantees in the presence of transmission delays. The notion of wave variable is utilized to characterize time-delay systems and leads to a configuration for force-reflecting teleoperation. The effectiveness of the approach is demonstrated experimentally. Within the same framework, an adaptive tracking controller is incorporated for the control of the remote robotic system and can be used to simplify, transform, or enhance the remote dynamics perceived by the operator.Keywords
This publication has 8 references indexed in Scilit:
- Preliminary design of a whole-arm manipulation system (WAMS)Published by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Performance in Adaptive Manipulator ControlThe International Journal of Robotics Research, 1991
- TeleroboticsAutomatica, 1989
- Robust control of dynamically interacting systemsInternational Journal of Control, 1988
- On the Adaptive Control of Robot ManipulatorsThe International Journal of Robotics Research, 1987
- Impedance Control: An Approach to Manipulation: Part I—TheoryJournal of Dynamic Systems, Measurement, and Control, 1985
- Feedback Systems: Input-Output PropertiesJournal of Dynamic Systems, Measurement, and Control, 1975
- Hyperstability of Control SystemsPublished by Springer Nature ,1973