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A Wave Variable Approach with Multiple Channel Architecture for Teleoperated System
Authors
Chao Liu
Jing Luo
Ning Wang
Chenguang Yang
Publication date
1 January 2019
Publisher
'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Cite
Abstract
© 2013 IEEE. Performance of teleoperation can be greatly influenced by time delay in the process of tele-manipulation with respect to accuracy and transparency. Wave variable is an effective algorithm to achieve a good stable capability. However, some traditional wave variable methods may decrease the performance of transparency and suffer the impacts of wave reflection. To deal with the problem of stability and transparency in teleoperation, in this paper, a novel wave variable method with four channel is presented to achieve stable tracking in position and force. In addition, the proposed method can achieve the distortion compensation and reduce the impacts of wave reflection. The simulation experimental results verified the tracking performance of the proposed method
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Last time updated on 08/06/2020
Archive Ouverte en Sciences de l'Information et de la Communication
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oai:HAL:lirmm-02315649v1
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Last time updated on 03/11/2020