Telemanipulation with Time Delays

@article{Niemeyer2004TelemanipulationWT,
  title={Telemanipulation with Time Delays},
  author={G{\"u}nter Niemeyer and Jean-Jacques E. Slotine},
  journal={I. J. Robotics Res.},
  year={2004},
  volume={23},
  pages={873-890}
}
In this paper we survey the development of the wave variable concept and examine wave-based teleoperation. We study the behavior of force reflecting systems under unknown but constant transmission delays, ranging from periods less than the human reaction time to several seconds. Passive transmission procedures guarantee system stability, but wave reflections and spurious dynamics may interfere with normal operation. Using wave variables for the analysis and implementation, and making… CONTINUE READING
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Bilateral teleoperation with communications delay

  • Niculescu, S.-I, D. Taoutaou, R. Lozano
  • International Journal of Robust and Nonlinear…
  • 2003

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