Publications Details
Improved tracking for bilateral teleoperators with time delay
A bilateral teleoperation system consists of a local master manipulator and a remotely located slave manuipulator. Generalized velocity commands are sent forward from the master to the slave, and generalized force/torque information is reflected'' back from the slave to the master. Often there is a transmission delay incurred when communicating between the two subsystems which causes instability in the bilateral teleoperator. Recently, a solution for this instability problem was found, based on mimicking the behavior of a lossless transmission line. Although this solution provides steady-state force and velocity tracking, it does not provide steady-state force and position tracking, as is desired for bilateral teleoperation. In this paper a modification is given to the basic control law which overcomes this difficulty. 13 refs., 6 figs., 1 tab.