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[072] Citation: C.A. Lawn, B. Hannaford, 'Performance Testing of Passive Communication and Control in Teleoperation with Time Delay,'
Proc. IEEE Intl. Conf. on Robotics and Automation, vol. 3, pp. 776-781, Atlanta, GA, May, 1993.
Abstract
Advanced application of remote manipulation or teleoperation will require
kinesthetic feedback of force and torque information from slave robot to master
hand controller. In outer space and terrestrial remote control, there is
unavoidable time delay between master and slave. This study evaluates the
performance of several candidate control laws for a single-axis testbed
telemanipulation system in the presence of up to 1 second of time delay.
Algorithms tested include communication laws based on passivity theory. Results
indicated that task completion time was as much as 50% greater with the
passivity based methods.
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Updated: Tue Aug 19 09:16:07 2008
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