Improving Force Reflecting Teleoperation
Laurence Bate
Broschiertes Buch

Improving Force Reflecting Teleoperation

A new method to enhance performance of time delayed teleoperator systems

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Bilateral force feedback teleoperation provides the operator with an enhanced realtime understanding of the remote slave environment. Closed loop bilateral teleoperation via a communications path which has no clearly defined or predictable delay time presents difficulty in maintaining both robust stability and adequate system performance for all delay conditions. The work presented in this book results in a new teleoperator architecture which: 1) improves wave based teleoperator transient response for the tasks of position tracking and contact stability without the need for prior knowledge of ...