Abstract
Model-mediated teleoperation has been developed to improve both transparency and stability in teleoperation. It uses local model of remote environment to provide non-delayed force feedback rather t...
Highlights
Robotic teleoperation system enables operators get a presence perception of interaction with remote environment where human presence is hazardous or costly
The force feedback could be out of phase compared to operators command due to the delay in telecommunication system and it has been recognized for many years that even a small time delay in the control loop may jeopardize the stability and performance
We propose a simplified Model-mediated teleoperation (MMT) system and address the stability problem of MMT by introducing a new model updating approach and an adaptive impedance controller
Summary
Robotic teleoperation system enables operators get a presence perception of interaction with remote environment where human presence is hazardous or costly. To this end, one critical step is the force feedback that gives the operator the perception of the force exerted by the slave manipulator.[1] the force feedback could be out of phase compared to operators command due to the delay in telecommunication system and it has been recognized for many years that even a small time delay in the control loop may jeopardize the stability and performance. It is hardly to be realized by bidirectional teleoperation.[9]
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