Bilateral control of teleoperators with time delay
- 1 May 1989
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 34 (5) , 494-501
- https://doi.org/10.1109/9.24201
Abstract
A control law for teleoperators is presented which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law has been implemented on a single-axis force-reflecting hand controller, and preliminary results are shown. To keep the presentation clear, a single-degree-of-freedom (DOF) linear time-invariant (LTI) teleoperator system is discussed. Nevertheless, results can be extended, without loss of generality, to an n-DOF nonlinear teleoperation system.<>Keywords
This publication has 5 references indexed in Scilit:
- Experimental and simulation studies of hard contact in force reflecting teleoperationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Hybrid impedance control of robotic manipulatorsIEEE Journal on Robotics and Automation, 1988
- A unified approach for motion and force control of robot manipulators: The operational space formulationIEEE Journal on Robotics and Automation, 1987
- Delayed Force FeedbackHuman Factors: The Journal of the Human Factors and Ergonomics Society, 1966
- Remote manipulation with transmission delayIEEE Transactions on Human Factors in Electronics, 1965