Passive Bilateral Teleoperation Framework for Assisted Robotic Tasks

This paper addresses the problem of stable bilateral teleoperation, through a time-delayed communication channel, for a n-DOF system without position drift. The classical wave variables-based scheme encodes velocity and force whilst the proposed scheme encodes position and integral of force. The res...

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Bibliographische Detailangaben

Hauptverfasser:	Nuno, E., Basanez, L., Ortega, R.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Communication channels Communication industry Communication system control Force control Layout Master-slave Robot kinematics Robotics and automation Service robots Stability
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