An observer based approach to force reflecting bilateral teleoperation

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Özçelik, Duruhan and Leblebici, Tuğba and Dikyar, Serhat and Ünel, Mustafa and Şabanoviç, Asif (2011) An observer based approach to force reflecting bilateral teleoperation. In: 5th International Conference on Automation, Robotics and Applications, Wellington, New Zealand

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Abstract

In this paper, the delay compensation problem is tackled in an observer framework by using three observers: A novel predictor observer (PROB), disturbance observers (DOB) and reaction torque observers (RTOB). The controller for the slave system is placed at the master side, along with the predictor observer and the control input is sent to the remote system through the communication channel. Transparency is achieved using a modified version of the 4-channel architecture. Performance of the proposed method is tested on a pair of 2-DOF pantograph robots with signals exchanged through the internet. The results show that stable and transparent teleoperation is achieved with successful tracking performances of the slave system.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Mustafa Ünel
Date Deposited: 29 Dec 2011 10:47
Last Modified: 26 Apr 2022 09:05
URI: https://research.sabanciuniv.edu/id/eprint/18659

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