Position and stiffness bounding approach for geometry transparency in time delyed teleoperation
- Position and stiffness bounding approach for geometry transparency in time delyed teleoperation
- 박성진; 리아즈 우딘; 강성철; 류제하
- Issue Date
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014
- , 5228-5233
- This paper proposes a position and stiffness bounding approach (PSBA) for improving “geometry transparency” in time-delayed teleoperations. The proposed method can rapidly update the local model location in master site to the contact location in the slave site. The proposed PSBA can therefore avoid instability problem due to both discrete force controller and sudden contact location changes (so called “model jump effect”). Effectiveness of the proposed approach is shown by 1-DOF simple contact experiment in 500ms round trip time delayed virtual environment.
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