Abstract
It is well known that bilateral control becomes unstable in teleoperation with time delay. To tackle this problem, a model-based teleoperation system was introduced. Forces, reflected from the model on the ground-site, do not depend upon the existing time delay in the system. Unfortunately, such model-based systems strongly depend on the accuracy of the model. In our previous work, we proposed a teleoperation system which is robust with respect to geometric modeling errors. However, our system could not deal with dynamic modeling errors. In this paper, we propose a new approach to the model-based teleoperation, based on mixed force and motion commands. With this approach, both geometric and dynamic modeling errors are tolerable. The experimental results confirm the effectiveness of the approach.
Published Version (
Free)
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call