NDLI: Transparent Time-Delayed Bilateral Teleoperation Using Wave Variables

Content Provider	IEEE Xplore Digital Library
Author	Aziminejad, A. Tavakoli, M. Patel, R.V. Moallem, M.
Copyright Year	1993
Abstract	Besides stability, a high degree of transparency is also an essential requirement in order to enable operators to safely and precisely perform bilateral teleoperation tasks. An existing approach based on the wave transformation technique can make a two-channel teleoperation system insensitive to time delays by making the time-delayed communication channel passive. In this paper, we propose a novel method for incorporating this technique in a four-channel architecture, which is the optimal architecture from a transparency point of view, and derive the corresponding absolute stability condition. It is analytically demonstrated that the proposed teleoperation architecture is capable of providing ideal transparency when transmission delays are present, and criteria for its stable operation are derived. We also show that a three-channel variant of the proposed four-channel control architecture can offer a comparable performance with less implementational complexity. Experimental results in support of the developed theory are provided.
Sponsorship	IEEE Control Systems Society
Starting Page	548
Ending Page	555
Page Count	8
File Size	569972
File Format	PDF
ISSN	10636536
Volume Number	16
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability Delay effects Communication channels Feedback Human robot interaction Master-slave Control systems Propagation delay Councils Research and development wave variables Bilateral teleoperation passivity time-delay compensation transparency
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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