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Proceedings Paper

Bilateral teleoperation control with varying time delay using optimal passive scheme
Author(s): Changlei Zhang; Sung Goo Yoo; Kil To Chong
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Paper Abstract

This paper presents a passive control scheme for a force reflecting bilateral teleoperation system via the Internet. To improve the stability and performance of the system, the host and client must be coupled dynamically via the network and Internet technology provides a convenient way to develop an integrated teleoperation system. However, as use of Internet increases, congestion situation of network increased and transmission time and packet loss increased accordingly. This can make system unstable at remote control. In this paper, we present an optimal passive control scheme for a force reflecting bilateral teleoperation system via the Internet and we investigated how a varying time delay affects the stability of a teleoperation system. A new approach based on an optimal passive control scheme was designed for the system. The simulation results and the tracking performance of the implemented system are presented in this paper.

Paper Details

Date Published: 7 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 679408 (7 January 2008); doi: 10.1117/12.784144
Show Author Affiliations
Changlei Zhang, Chonbuk National Univ. (South Korea)
Sung Goo Yoo, Chonbuk National Univ. (South Korea)
Kil To Chong, Chonbuk National Univ. (South Korea)


Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials

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