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On tracking performance in bilateral teleoperation
Abstract
This paper addresses the problem of steady-state position and force tracking in bilateral teleoperation. Passivity-based control schemes for bilateral teleoperation provide robust stability against network delays in the feedback loop and velocity tracking, but do not guarantee steady-state position and force tracking in general. Position drift due to data loss and offset of initial conditions is a well-known problem in such systems. In this paper, we introduce a new architecture, which builds upon the traditional passivity-based configuration by using additional position control on both the master and slave robots, to solve the steady-state position and force-tracking problem. Lyapunov stability methods are used to establish the range of the position control gains on the master and slave sides. Experimental results using a single-degree-of-freedom master/slave system are presented, showing the performance of the resulting system
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Citations
Cited by
Passivity-Based Control of Multi-Agent Systems
Chopra, N., & Spong, M. W. (2007) · Advances in Robot Control · doi:10.1007/978-3-540-37347-6_6 · Cited by 413
Self-citationSynchronization of bilateral teleoperators with time delay
Chopra, N., Spong, M. W., & Lozano, R. (2008) · Automatica · doi:10.1016/j.automatica.2007.12.002 · Cited by 337
Self-citationToward 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
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Metadata
- Authors
- Chopra, N., Spong, M. W., Ortega, R., & Barabanov, N. E.
- Venue
- IEEE Transactions on Robotics
- Published
- 2006-08
- Volume
- 22
- Issue
- 4
- Pages
- 861-866
- ISSN
- 1552-3098 (ISSN-L)
- OpenAlex
- W2122895826
- Cited by
- 210
- References
- 0
- FWCI
- 32.73
- Type
- journal article
- Language
- en
- Open access
- closed
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- Chopra, N., Spong, M. W., Ortega, R., & Barabanov, N. E. (2006). On tracking performance in bilateral teleoperation. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2006.878942
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