A model-based space teleoperation system with robustness against modeling errors
- 22 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1594-1599
- https://doi.org/10.1109/robot.1997.614368
Abstract
Teleoperation with long time delay causes bilateral control to become unstable. A possible solution to the problem can be found with the help of virtual reality. Forces, reflected from the virtual world, do not depend upon the existing time delay in the system. Unfortunately, virtual reality based systems strongly depend on the accuracy of the model. In this paper we propose a teleoperation system which is robust to modeling errors, including geometric and dynamic ones. The reference force command is generated by using both force and position information simultaneously. The effectiveness of our approach is confirmed by experiments.Keywords
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