On extending the wave variable method to multiple-DOF teleoperation systems

IEEE/ASME Transactions on Mechatronics

Volumn 14, Issue 1, 2009, Pages 55-63

  Alise, Marc ^a   Roberts, Rodney G ^a   Repperger, Daniel W ^b   Moore Jr , Carl A ^a   Tosunoglu, Sabri ^c  

^a FAMU FSU COLLEGE OF ENGINEERING   (United States)

^b AIR FORCE RESEARCH LABORATORY   (United States)

^c The Department of Electrical and Computer Engineering   (United States)

Author keywords

Teleoperation; Time delay; Wave variables

Indexed keywords

ELECTRIC IMPEDANCE MEASUREMENT; PASSIVATION; REMOTE CONTROL;

BILATERAL TELEOPERATION; CONTACT FORCES; DAMPING CONSTANTS; FIXED TIME; FORCE FEEDBACKS; HUMAN OPERATORS; IMPEDANCE MATRICES; SCATTERING THEORIES; SYSTEM'S PERFORMANCE; TASK PERFORMANCE; TELE-OPERATION SYSTEMS; TELEOPERATION; VARIABLE TIME DELAYS; WAVE VARIABLE METHODS; WAVE VARIABLES;

TIME DELAY;

EID: 61549138660     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2008.2006181     Document Type: Article

References (27)

1. M. Alise, "Expansion and implementation of the wave variable method in multiple degree-of-freedom systems," Ph.D. dissertation, Dept. Electr. Comput. Eng., Florida State Univ., Tallahassee, FL, 2007.
2. R. J. Anderson and M. W. Spong, "Bilateral control of teleoperators with time delay," IEEE Trans. Autom. Control, vol. 34, no. 5, pp. 494-501, May 1989.
3. N. Chopra, M. W. Spong, S. Hirche, and M. Buss, "Bilateral teleoperation over the Internet: The time varying delay problem," in Proc. Amer. Control Conf., Denver, CO, Jun. 4-6, 2003, pp. 155-160.
4. N. Chopra, M. W. Spong, R. Ortega, and N. E. Barabanov, "On position tracking in bilateral teleoperation," in Proc. Amer. Control Conf. Boston, MA, Jun.30-Jul. 2, 2004, pp. 5244-5249.
5. A. Eusebi and C. Melchiorri, "Force reflecting telemanipulators with time-delay: Stability analysis and control design," IEEE Trans. Robot. Autom., vol. 14, no. 4, pp. 635-640, Aug. 1998.
6. S. Ganjefar, H. Momeni, and F. Janabi-Sharifi, "Teleoperation systems design using augmented wave-variables and Smith predictor method for reducing time-delay effects," in Proc. IEEE Int. Symp. Intell. Control, Vancouver, BC, Canada, Oct. 27-30, 2002, pp. 333-338.
7. C. E. Garcia, B. Morales, R. Carelli, and J. Postigo, "Stability analysis for a teleoperation system with time delay and force feedback," in Proc. IEEE Conf. Decis. Control, Sydney, Australia, Dec. 12-15, 2000, pp. 3453-3458.
8. B. Hannaford, "A design framework for teleoperators with kinesthetic feedback," IEEE Trans. Robot. Autom., vol. 5, no. 4, pp. 426-434, Aug. 1989.
9. B. Hannaford and J.-H. Ryu, "Time-domain passivity control of haptic interfaces," IEEE Trans. Robot. Autom., vol. 18, no. 1, pp. 1-10, Feb. 2002.
10. L. Huijun and S. Aiguo, "Virtual-environment modeling and correction for force-reflecting teleoperation with time delay," IEEE Trans. Ind. Electron., vol. 54, no. 2, pp. 1227-1233, Apr. 2007.
11. D.-Y. Hwang and B. Hannaford, "Modeling and stability analysis of a scaled telemanipulation system," in Proc. IEEE Workshop Robot Human Commun., Nagoya, Japan, Jul. 18-20, 1994, pp. 32-37.
12. K. Kosuge, T. Itoh, and T. Fukuda, "Scaled telemanipulation with communication time delay," in Proc. IEEE Int. Conf. Robot. Autom. Minneapolis, MN, Apr. 22-28, 1996, pp. 2019-2024.
13. T. Mirfakhrai and S. Payandeh, "A delay prediction approach for teleoperation over the Internet," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, May. 11-15, 2002, pp. 2178-2183.
14. S. Munir, "Internet-based teleoperation," Ph.D. dissertation, Dept. Mech. Eng., Georgia Inst. Technol., Atlanta, GA, Mar. 2001.
15. S. Munir and W. J. Book, "Wave-based teleoperation with prediction," in Proc. Amer. Control Conf., Arlington, VA, Jun. 25-27, 2001, pp. 4605-4611.
16. S. Munir and W. J. Book, "Internet-based teleoperation using wave variables with prediction," IEEE/ASME Trans. Mechatron., vol. 7, no. 2, pp. 124-133, Jun. 2002.
17. S. Munir and W. J. Book, "Control techniques and programming issues for time delayed Internet based teleoperation," ASME J. Dyn. Syst., Meas., Control, vol. 125, no. 2, pp. 205-214, Jun. 2003.
18. G. Niemeyer and J.-J. E. Slotine, "Stable adaptive teleoperation," IEEE J. Oceanic Eng., vol. 16, no. 1, pp. 152-162, Jan. 1991.
19. G. Niemeyer and J.-J. E. Slotine, "Using wave variables for system analysis and robot control," in Proc. IEEE Int. Conf. Robot. Autom. Albuquerque, NM, Apr. 20-25, 1997, pp. 1619-1625.
20. G. Niemeyer and J.-J. E. Slotine, "Towards force-reflecting teleoperation over the Internet," in Proc. IEEE Int. Conf. Robot. Autom., Leuven, Belgium, May. 16-20, 1998, pp. 1909-1915.
21. I. G. Polushin, P. X. Liu, and C.-H. Lung, "A force-reflection algorithm for improved transparency in bilateral teleoperation with communication delay," IEEE/ASME Trans. Mechatron., vol. 12, no. 3, pp. 361-374, Jun. 2007.
22. J.-J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice-Hall, 1991.
23. J. Speich and M. Goldfarb, "A compliant-mechanism-based three degree-of-freedom manipulator for small-scale manipulation," Robotica, vol. 18, no. 1, pp. 95-104, Jan. 2000.
24. S. Stramigioli, A. van der Schaft, B. Maschke, and C. Melchiorri, "Geometric scattering in robotic telemanipulation," IEEE Trans. Robot. Autom., vol. 18, no. 4, pp. 588-596, Aug. 2002.
25. N. A. Tanner and G. Niemeyer, "High-frequency acceleration feedback in wave variable telerobotics," IEEE/ASME Trans. Mechatron., vol. 11, no. 2, pp. 119-127, Apr. 2006.
26. J. Ueda and T. Yoshikawa, "Force-reflecting bilateral teleoperation with time delay by signal filtering," IEEE Trans. Robot. Autom., vol. 20, no. 3, pp. 613-619, Jun. 2004.
27. Y. Yokokohji, T. Imaida, and T. Yoshikawa, "Bilateral teleoperation under time-varying communication delay," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Kyongju, Korea, Oct. 17-21, 1999, pp. 1854-1859.