On Stabilizing Communication Law for Bilateral Teleoperations

• 成果类型: Article
• 署名作者: Tho, Ho Duc; Miyoshi, Takanori
• 署名单位: Nagaoka University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3289925
• 发表日期: 2023
• 页码: 8134-8141
• 关键词: Force reflecting; telerobotics; time delay; wave transformation (WT)

摘要

This article puts forward a stabilizing communication law to enable direct environmental contact force feedback for the wave transformation-based teleoperation architecture, potentially improving the human operator's experience of telepresence. The stability of the established stabilizing communication law and the closed-loop teleoperation system will be discussed. The simulation results are presented to highlight the advantage of the proposed communication law over the lossless passive one.