Explicit adaptive time-delay compensation for bilateral teleoperation

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dc.citation.epage3383en_US
dc.citation.spage3379en_US
dc.contributor.authorAbidi, K.en_US
dc.contributor.authorYıldız, Yıldırayen_US
dc.contributor.authorKörpe, Bekir Emreen_US
dc.coverage.spatialQingdao, Chinaen_US
dc.date.accessioned2016-02-08T12:17:21Z
dc.date.available2016-02-08T12:17:21Z
dc.date.issued2015en_US
dc.departmentDepartment of Mechanical Engineeringen_US
dc.descriptionDate of Conference: 23-25 May 2015en_US
dc.descriptionConference Name: 27th Chinese Control and Decision Conference, CCDC 2015en_US
dc.description.abstractThis paper proposes a control framework that addresses the destabilizing effect of communication time-delays and system uncertainties in telerobotics, in the presence of force-feedback. Force feedback is necessary to obtain transparency, which is providing the human operator as close a feel as possible of the environment where the slave robot is operating. Achieving stability and providing transparency are conflicting goals. This is the major reason why currently a very few, if at all, fully operational force feedback teleoperation devices exist except for research environments. The proposed framework handles system uncertainty with adaptation and communication time delays with explicit delay compensation. The technology that allows this explicit adaptive time-delay compensation is inspired by MIT's Adaptive Posicast Controller.en_US
dc.identifier.doi10.1109/CCDC.2015.7162505en_US
dc.identifier.urihttp://hdl.handle.net/11693/28319
dc.language.isoEnglishen_US
dc.publisherIEEEen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/CCDC.2015.7162505en_US
dc.source.titleProceedings of the 27th Chinese Control and Decision Conference, CCDC 2015en_US
dc.subjectAdaptive controlen_US
dc.subjectTeleoperationen_US
dc.subjectTime delay systemsen_US
dc.titleExplicit adaptive time-delay compensation for bilateral teleoperationen_US
dc.typeConference Paperen_US
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