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Author Polushin, I.G. ♦ Rhinelander, J.P. ♦ Liu, P.X. ♦ Chung-Horng Lung
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2009
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Virtual reality ♦ Delay ♦ Teleoperators ♦ Master-slave ♦ Jitter ♦ Force feedback ♦ Virtual environment ♦ Predictive models ♦ Distortion measurement ♦ Current measurement
Abstract In force reflecting teleoperator systems, the existence of even small communication delays and jitters may lead to transparency deterioration and instability. An alternative approach to the delayed force feedback is to design a virtual environment (VE) on the master side that duplicates the essential features of the remote slave-environment interconnection. In this work, we present an approach to the design of VE-enhanced force reflecting teleoperation in presence of network induced communication constraints. The approach is based on using an approximate discrete-time model of the remote slave/environment interconnection, which is implemented on the master side together with certain observation/identification/prediction mechanism that allows to approximately recover the current state/parameters of the remote environment based on delayed and possibly distorted measurement data. A control algorithm and a communication protocol are designed which guarantee the stability of the overall teleoperator system in the presence of network induced communication constraints if the loss of the information during communication is sufficiently small.
Description Author affiliation: Department of Systems and Computer Engineering, Carleton University, 1125 Colonel By Drive, Ottawa, ON, K1S 5B6, Canada (Rhinelander, J.P.; Liu, P.X.; Chung-Horng Lung) || Department of Electrical and Computer Engineering, University of Western Ontario, London, N6A 5B9, Canada (Polushin, I.G.)
ISBN 9781424438716
ISSN 01912216
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2009-12-15
Publisher Place China
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 569.00 kB
Page Count 6
Starting Page 2088
Ending Page 2093


Source: IEEE Xplore Digital Library