Bilateral teleoperation: An historical survey

In this paper we survey the development of the wave variable concept and examine wave-based teleoperation. We study the behavior of force reflecting systems under unknown but constant transmission delays, ranging from periods less than the human reaction time to several seconds. Passive transmission procedures guarantee system stability, but wave reflections and spurious dynamics may interfere with normal operation. Using wave variables for the analysis and implementation, and making appropriate design choices, a system with consistent and predictable behavior is constructed. This design methodology aims to create a virtual tool which accounts for the implicit limitations imposed by the delay. These developments also form the basis for extensions to wave-based prediction and application to variable delays, such as those inherent to Internet-based telemanipulation.

Telemanipulation with Time Delays

Passivity-based control for bilateral teleoperation: A tutorial

Brief paper: Synchronization of bilateral teleoperators with time delay

In this paper the problem of position tracking in the presence of variable time delay is studied. It is proved that simple P-like and PD-like controllers can stabilize the teleoperator under variable time delays and, moreover, they provide position tracking. Then, a controller based on the scattering transformation that also provides position tracking is proposed. In this paper we present the conditions under which the velocities and position error of the non-linear teleoperator, for the three controllers, are bounded, and if the human does not move the local manipulator and the remote manipulator does not interact with the environment, then it is proved that velocities and position error converge to zero. Simulations and real experiments, using the Internet from Urbana-Champaign (USA) to Barcelona (Spain), validate the proposed schemes.

Position Tracking for Non-linear Teleoperators with Variable Time Delay

Wave-based teleoperation has been previously attempted over the Internet, however performance rapidly deteriorates with increasing delay. The paper focuses on the use of a modified Smith predictor, a Kalman filter and an energy regulator to improve the performance of a wave-based teleoperator. This technique is further extended for use over the Internet, where the time delay is varying and unpredictable. It is shown that the resulting system is stable even if there are large uncertainties in the model of the remote system (used in prediction). Successful experimental results using this technique for teleoperation in a master-slave arrangement over the Internet, where the control signal is streamed between Atlanta (Georgia) and Tokyo (Japan), are also given.

/pdf/internet-based-teleoperation-using-wave-variables-with-3p60xzxo3v.pdf

Internet based teleoperation using wave variables with prediction

Passive haptic displays have several advantages when compared to active devices. Safety elements associated with active haptic displays may make them undesirable for certain applications. One method of actuation for passive haptic robots is through the use of brakes and clutches. Traditionally, friction brakes have undesirable behaviour, such as stiction and delay in response time due to mechanical motion. In this study a new brake concept is proposed. The performance of this brake is evaluated and quantified through a series of controlled experiments. Particular attention is given to the phenomenon of stiction in Delrin, dynamic response of the new brake, and effectiveness of feedback control for braking torque.

/pdf/experimental-evaluation-of-a-new-braking-system-for-use-in-4jw1jd9d3f.pdf

Experimental evaluation of a new braking system for use in passive haptic displays

Wave variables based on passivity and scattering theory provide a good tool for establishing bilateral teleoperation in the presence of a constant time delay. Recently, these techniques have been extended to be used for a varying time delay, as in the case of Internet-based teleoperation. Although stability is guaranteed for virtually any time delay, performance rapidly degrades for larger delays. In this paper, a predictor derived from a modified Smith predictor along with a Kalman estimator and an energy regulator is used to enhance the performance of a wave-based teleoperator in the presence of a constant delay. Also, the current wave transformation equations are extended to a more general case (better suited for systems with multiple degrees of freedom).

Wave-based teleoperation with prediction

Wave-based teleoperation has been previously attempted over the Internet, however, performance rapidly deteriorates with increasing delay. This paper focuses on the use of a modified Smith predictor, a Kalman filter and an energy regulator to improve the performance of a wave-based teleoperator. This technique is further extended for use over the Internet, where the time delay is varying and unpredictable. It is shown that the resulting system is stable even if there are large uncertainties in the model of the remote system (used in prediction). Successful experimental results using this technique for teleoperation in a master-slave arrangement over the Internet, where the control signal is streamed between Atlanta (Georgia) and Tokyo (Japan), are also given.

Internet-based teleoperation using wave variables with prediction

Handle everyday research tasks with reliable, citation-backed results

Your personal Research Agent to handle research tasks with citation-backed results

Popular Tasks used by Researchers

How can I help with your research?

Meet SciSpace

Get more enhanced response by uploading the PDFs you want me to reference.

No relevant PDFs in your library

SciSpace is the AI research assistant for academics. Run systematic literature reviews on 280M+ papers, and write papers with cited sources. Trusted by 1M+ students, PhDs & researchers.

SciSpace | AI for Research

Analyze PDFs

Code & Manuscripts

Funding & Grants

Literature & Patents

Medical & Clinical Data

Systematic Review

Visualize & Present

Web & Data

Build a Google Scholar-like website for your research.

Build a website

Create charts and images for your research

Create a Chart

Write a paper for submission to a journal

Draft a manuscript

Patent Search

Design eye-catching scientific posters in minutes.

Scientific Poster Generation

Systematic Literature Review

One task is running at the moment. Your messages will be shown right after.

Drag and drop or click here to browse

Loved by <highlight>1 million+</highlight> researchers

Extract a list of specific topics and their sources from unstructured text

Topics

Compare and analyze relevant papers that matches with your search

Papers

Get insights from PDFs and bookmarked papers from your library

My library

Recent searches

Try searching for:

Catch AI-generated content in scholarly and non-scholarly content

{ai} Detector

Ai Writer

Get PDF Summaries, highlighted text explanations 

Chat with PDF

Effortlessly create in-text citations and bibliographies in APA and 2,500 other formats

Citation generator

Get explanations, summaries, and answers on academic papers

Ease up your research workflow with {scispace}'s cohort of exciting AI tools

Elevate your academic writing skills and convey your ideas the way you want

Paraphraser

Explore our range of reading and writing tools

Your file is being prepared and should be ready in a few minutes. If it's a large file, it might take a bit longer. You can close this window, and we'll email you the file when it's done.

You have reached a maximum limit of <strong>{limit}</strong> columns in the table. Remove at least <strong>1</strong> column to add or create another one.

S. Munir

Author Tools

Chat about Author

Papers

Internet based teleoperation using wave variables with prediction

Experimental evaluation of a new braking system for use in passive haptic displays

Wave-based teleoperation with prediction

Internet-based teleoperation using wave variables with prediction