Scaled telemanipulation with communication time delay

Kazuhiro Kosuge, Tomotaka Itoh, Toshio Fukuda

Research output: Contribution to journalConference articlepeer-review

28 Citations (Scopus)


This paper proposes a control algorithm of a scaled telemanipulation system with communication time delay. With the proposed algorithm, the motion and force relation between the master manipulator and the slave manipulator can be specified freely by using two scaling factors; a motion scaling factor and a force scaling factor. The scattering transformation is used to guarantee the passivity of the communication system. The stability of the resultant system is analyzed in view of the passivity and the total stability is guaranteed for an operator and a passive environment with unknown dynamics. The proposed method is experimentally applied to a master slave manipulator and the experimental results illustrate the validity of the system.

Original languageEnglish
Pages (from-to)2019-2024
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1996 Jan 1
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 1996 Apr 221996 Apr 28

ASJC Scopus subject areas

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


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