Bilateral teleoperation control with varying time delay using optimal passive scheme

Changlei Zhang; Sung Goo Yoo; Kil To Chong

doi:10.1117/12.784144

7 January 2008 Bilateral teleoperation control with varying time delay using optimal passive scheme

Changlei Zhang, Sung Goo Yoo, Kil To Chong

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 679408 (2008) https://doi.org/10.1117/12.784144
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

This paper presents a passive control scheme for a force reflecting bilateral teleoperation system via the Internet. To improve the stability and performance of the system, the host and client must be coupled dynamically via the network and Internet technology provides a convenient way to develop an integrated teleoperation system. However, as use of Internet increases, congestion situation of network increased and transmission time and packet loss increased accordingly. This can make system unstable at remote control. In this paper, we present an optimal passive control scheme for a force reflecting bilateral teleoperation system via the Internet and we investigated how a varying time delay affects the stability of a teleoperation system. A new approach based on an optimal passive control scheme was designed for the system. The simulation results and the tracking performance of the implemented system are presented in this paper.

Citation Download Citation

Changlei Zhang, Sung Goo Yoo, and Kil To Chong "Bilateral teleoperation control with varying time delay using optimal passive scheme", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679408 (7 January 2008); https://doi.org/10.1117/12.784144

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