Bilateral Teleoperation With Time-Varying Delay: A Communication Channel Passification Approach

Bilateral Teleoperation With Time-Varying Delay: A Communication Channel Passification Approach

In this paper, the activeness of bilateral communication with time-varying delay is analyzed. Based on the power-based time-domain passivity control previously proposed, a time-domain passivity control approach is derived for bilateral communication. Teleoperation experimental results verify the eff...

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Veröffentlicht in:IEEE/ASME transactions on mechatronics 2013-08, Vol.18 (4), p.1431-1434
Hauptverfasser: Yongqiang Ye, Ya-Jun Pan, Hilliard, Trent
Format: Artikel
Sprache:eng
Schlagworte:
Bilateral communication
Channels
Communication channels
Delay
Delays
Force
Frequency modulation
Mechatronics
Passivity
teleoperation
Teleoperators
Time-domain analysis
time-domain passivity control (TDPC)
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Zusammenfassung:In this paper, the activeness of bilateral communication with time-varying delay is analyzed. Based on the power-based time-domain passivity control previously proposed, a time-domain passivity control approach is derived for bilateral communication. Teleoperation experimental results verify the effectiveness.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2013.2255882