This paper presents a control methodology that provides transparency and stability robustness in bilateral telemanipulation systems that include a significant time delay in the communication channels. The method utilizes an adaptive Smith predictor to compensate for the time delay, and incorporates a previously published loop shaping approach to design a compensator for transparency and stability robustness of the loop. The method is experimentally demonstrated on a single degree-of-freedom telemanipulation system, and is shown to effectively provide stability and performance robustness.
Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division December 26, 2003. Associate Editor: F. Ghorbel.
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Fite and , K. B., Goldfarb , M., and Rubio , A. (December 3, 2004). "Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation ." ASME. J. Dyn. Sys., Meas., Control. September 2004; 126(3): 650–656. https://doi.org/10.1115/1.1790539
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