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- Publisher Website: 10.1109/ROBOT.1997.619291
- Scopus: eid_2-s2.0-0030714440
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Conference Paper: Bilateral feedback control of telemanipulator via computer network in discrete time domain
Title | Bilateral feedback control of telemanipulator via computer network in discrete time domain |
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Authors | |
Issue Date | 1997 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 1997, v. 3, p. 2219-2224 How to Cite? |
Abstract | In a traditional teleoperation system, the communication block has the same time delay in both directions between the master and the slave, but the communication time delay varies with direction in a computer network. We propose a control law in discrete time domain of the bilateral feedback teleoperation system using the computer network, and prove the stability of the system with scattering transformation in discrete time domain for the case where the communication time delay from the master to the slave is different from the time delay from the slave to the mater. We also consider a implementation issue for the case where the sampling rate of the communication block is lower than those of the master and the slave blocks. Finally, we illustrate the validity of the proposed system using a experimental master slave system with one DOF. |
Persistent Identifier | http://hdl.handle.net/10722/302677 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Murayama, Hideyuki | - |
dc.date.accessioned | 2021-09-07T08:42:22Z | - |
dc.date.available | 2021-09-07T08:42:22Z | - |
dc.date.issued | 1997 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 1997, v. 3, p. 2219-2224 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302677 | - |
dc.description.abstract | In a traditional teleoperation system, the communication block has the same time delay in both directions between the master and the slave, but the communication time delay varies with direction in a computer network. We propose a control law in discrete time domain of the bilateral feedback teleoperation system using the computer network, and prove the stability of the system with scattering transformation in discrete time domain for the case where the communication time delay from the master to the slave is different from the time delay from the slave to the mater. We also consider a implementation issue for the case where the sampling rate of the communication block is lower than those of the master and the slave blocks. Finally, we illustrate the validity of the proposed system using a experimental master slave system with one DOF. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Bilateral feedback control of telemanipulator via computer network in discrete time domain | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBOT.1997.619291 | - |
dc.identifier.scopus | eid_2-s2.0-0030714440 | - |
dc.identifier.volume | 3 | - |
dc.identifier.spage | 2219 | - |
dc.identifier.epage | 2224 | - |