Bilateral Control of Teleoperators with Time Delay

IEEE Transactions on Automatic Control

Volumn 34, Issue 5, 1989, Pages 494-501

  Anderson, Robert J ^a   Spong, Mark W ^b  

^a SANDIA NATIONAL LABORATORIES   (United States)

^b UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICS;

BILATERAL CONTROL; NONLINEAR TELEOPERATION SYSTEM; TIME DELAY CAUSED INSTABILITY;

ROBOTS, INDUSTRIAL;

EID: 0024663381     PISSN: 00189286     EISSN: 15582523     Source Type: Journal    
DOI: 10.1109/9.24201     Document Type: Article

References (14)

1. J. Vertut, P. Coiffet, Robot Technology, Volume 3 A: Teleoperations and Robotics: Evolution and Development. Englewood Cliffs, NJ: Prentice-Hall, 1986
2. A. K. Bejczy and M. Handlykken, “Generalization of bilateral forcereflecting control of manipulators,” in Proc. 4th Rom-An-Sy, Warsaw, Poland, 1981, pp. 242–255.
3. J. Vertut, R. Fournier, B. Espiau, and G. Andre, “Advances in a computer aided bilateral manipulator system,” in Proc. 1984 Nat. Topical Meet. Robotics and Remote Handling in Hostile Environ., 1984, pp. 367–372.
4. W. R. Ferrell, “Remote manipulation with transmission delay,” IEEE Trans. Human Factors Electron., vol. HFE-6, pp. 24–32, Sept. 1965.
5. W. R. Ferrell, “Delayed force feedback,” IEEE Trans. Human Factors Electron., vol. HFE-8, pp. 449–455, Oct. 1966.
6. J. Vertut, A. Micaelli, P. Marchal, and J. Guittet, “Short transmission delay on a force reflective bilateral manipulator,” in Proc. 4th RomAn-Sy, Warsaw, Poland, 1981, pp. 267–280.
7. O. Khatib, “A unified approach for motion and force control of robot manipulators,” IEEE J. Robotics Automat., vol. RA-3, no. 1, pp. 43–53, 1987.
8. R. Rosenberg and D. Karnop, Introduction to Physical System Dynamics. New York: McGraw-Hill, 1983.
9. R. J. Anderson, and M. W. Spong, “Hybrid impedance control of robotic manipulators,” IEEE Trans. Robotics Automat., vol. 4, Oct. 1988.
10. M. E. van Valkenburg, Network Analysis. Englewood Cliffs, NJ: Prentice-Hall, 1964.
11. B. Hannaford, “A design framework for teleoperators with kinesthetic feedback,” preprint, 1988.
12. M. R. Wohlers, Lumped and Distributed Passive Networks. New York: Academic, 1969.
13. B. Hannaford and R. J. Anderson, “Experimental and simulation studies of hard contact in force reflecting teleoperation,” in Proc. 1988 IEEE Int. Conf. Robotics Automat., Philadelphia, PA, 1988.
14. R. Chipman, Transmission Lines. New York: McGraw-Hill, 1968.