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Bilateral control of teleoperators with time delay
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.>
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Citations
Cited by
Yokokohji, Y., & Yoshikawa, T. (1994) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.326566 · Cited by 939
Towards force-reflecting teleoperation over the Internet
Niemeyer, G., & Slotine, J.-J. E. (2002) · Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) · doi:10.1109/robot.1998.680592 · Cited by 355
Toward Haptic Communications Over the 5G Tactile Internet
Antonakoglou, K., Xu, X., Steinbach, E., Mahmoodi, T., & Dohler, M. (2018) · IEEE Communications Surveys & Tutorials · doi:10.1109/comst.2018.2851452 · Cited by 250
Position Tracking for Non-linear Teleoperators with Variable Time Delay
Nuño, E., Basañez, L., Ortega, R., & Spong, M. W. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364908099461 · Cited by 242
Self-citationHinterseer, P., Hirche, S., Chaudhuri, S., Steinbach, E., & Buss, M. (2008) · IEEE Transactions on Signal Processing · doi:10.1109/tsp.2007.906746 · Cited by 213
Metadata
- Authors
- Anderson, R. J., & Spong, M. W.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 1989-05
- Volume
- 34
- Issue
- 5
- Pages
- 494-501
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W2561111412
- Cited by
- 2,128
- References
- 0
- FWCI
- 16.32
- Type
- journal article
- Language
- en
- Open access
- closed
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- Anderson, R. J., & Spong, M. W. (1989). Bilateral control of teleoperators with time delay. IEEE Transactions on Automatic Control. https://doi.org/10.1109/9.24201
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