Conference
Improved Transparency in Bilateral Teleoperation with Variable Time Delay
Abstract
Communication time delay has been a major barrier to achieving high performance while maintaining stability in bilateral teleoperation. Building upon the results of our recent work in [1], a provably stable adaptive controller is proposed for variable delay teleoperation. The controller utilizes a model of the system dynamics and the time delay within a predictive control framework to improve the response transparency. It can also adapt to …
Authors
Shahdi A; Sirouspour S
Pagination
pp. 4616-4621
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 1, 2009
DOI
10.1109/iros.2009.5354426
Name of conference
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems