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Abstract
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| n this paper, we propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. We consider that the human operator contains a constant force on the local manipulator. The local and remote manipulators are coupled using state convergence control scheme. By choosing a Lyapunov-Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. It is also shown that, in the case of reliable communication protocols, the proposed scheme guarantees that the remote manipulator tracks the delayed trajectory of the local manipulator. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known. | |
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International
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Si |
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Congress
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Mecatronics-REM 2012 IEEE |
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960 |
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Place
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Paris |
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Reviewers
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Si |
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ISBN/ISSN
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978-1-4673-4770-9 |
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10.1109/MECATRONICS.2012.6450986 |
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Start Date
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21/11/2112 |
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End Date
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23/11/2013 |
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From page
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40 |
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To page
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47 |
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Mechatronics (MECATRONICS) , 2012 9th France-Japan & 7th Europe-Asia Congress on and Research and Education in Mechatronics (REM), 2012 13th Int'l Workshop on |