{"title":"Telemanipulation over wide-area internet communication networks With time varying delay","authors":"S. Islam, P. Liu, A. El Saddik","doi":"10.1109/I2MTC.2012.6229543","DOIUrl":null,"url":null,"abstract":"This paper presents delay dependent teleoperation strategy over wide-area communication network under symmetric and asymmetric time varying transmission delay. The local and remote device is coupled by delayed position and adaptive impedance reflection of the remote slave-environment's interaction force. Local nonlinear adaptive terms for both master-slaves are deployed to estimate uncertain parameter of the gravity loading vector. An adaptive impedance force-reflection algorithm is designed for slave device to estimate the remote impedance characteristics of the interaction force between slave and remote task environment. The on-line estimated remote slave-environment's characteristics are then transmitted back to the master device via using communication channels in order to reproduce remote slave-environment's interaction force at the human operator hand. Lyapunov-Krasovskii-like functional is employed to derive stability condition for the coupled master-slave teleoperators. Finally, simulation is conducted to demonstrate the validity of the proposed design for real-time applications.","PeriodicalId":387839,"journal":{"name":"2012 IEEE International Instrumentation and Measurement Technology Conference Proceedings","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2012-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE International Instrumentation and Measurement Technology Conference Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/I2MTC.2012.6229543","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
This paper presents delay dependent teleoperation strategy over wide-area communication network under symmetric and asymmetric time varying transmission delay. The local and remote device is coupled by delayed position and adaptive impedance reflection of the remote slave-environment's interaction force. Local nonlinear adaptive terms for both master-slaves are deployed to estimate uncertain parameter of the gravity loading vector. An adaptive impedance force-reflection algorithm is designed for slave device to estimate the remote impedance characteristics of the interaction force between slave and remote task environment. The on-line estimated remote slave-environment's characteristics are then transmitted back to the master device via using communication channels in order to reproduce remote slave-environment's interaction force at the human operator hand. Lyapunov-Krasovskii-like functional is employed to derive stability condition for the coupled master-slave teleoperators. Finally, simulation is conducted to demonstrate the validity of the proposed design for real-time applications.