Abstract
The design of a bilateral teleoperation system remains challenging in cases with high-impedance slave robots or substantial communication delays. Especially for these scenarios, model-mediated teleoperation offers a promising new approach. In this paper, we present a first stability discussion. We examine the continuous behavior using general control principles and discuss how the model structure and its predictive power affects system lag and stability. We also recognize the unavoidability of discrete model jumps and discuss measures to isolate events and prevent limit cycles. The discussions are illustrated in a single degree of freedom case and supported by single degree of freedom experiments.
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Willaert, B., Van Brussel, H., Niemeyer, G. (2012). Stability of Model-Mediated Teleoperation: Discussion and Experiments. In: Isokoski, P., Springare, J. (eds) Haptics: Perception, Devices, Mobility, and Communication. EuroHaptics 2012. Lecture Notes in Computer Science, vol 7282. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31401-8_55
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DOI: https://doi.org/10.1007/978-3-642-31401-8_55
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