Model-based space teleoperation system with robustness against modeling errors

Y. Tsumaki, Masaru Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    31 Citations (Scopus)

    Abstract

    Teleoperation with long time delay causes bilateral control to become unstable. A possible solution to the problem can be found with the help of virtual reality. Forces, reflected from the virtual world, do not depend upon the existing time delay in the system. Unfortunately, virtual reality based systems strongly depend on the accuracy of the model. In this paper we propose a teleoperation system which is robust to modeling errors, including geometric and dynamic ones. The reference force command is generated by using both force and position information simultaneously. The effectiveness of our approach is confirmed by experiments.

    Original languageEnglish
    Pages (from-to)1594-1599
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume2
    Publication statusPublished - 1997 Jan 1
    EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
    Duration: 1997 Apr 201997 Apr 25

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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