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SIA OpenIR  > 机器人学研究室  > 会议论文
题名:
Wave-transformation-based control law for teleoperation with large time-varying delays
作者: Yang FP(阳方平); Li HY(李洪谊); Wang YC(王越超)
作者部门: 机器人学研究室
通讯作者: 阳方平
会议名称: 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
会议日期: December 11-14, 2012
会议地点: Guangzhou, China
会议主办者: IEEE Robotics and Automation Society
会议录: Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC, USA
出版日期: 2012
页码: 1610-1614
收录类别: EI ; CPCI（ISTP）
EI收录号: 20131716244036
WOS记录号: WOS:000321004000271
产权排序: 1
ISBN号: 978-1-4673-2125-9
摘要: This paper presents a solution to maintain stability in a force-reflecting bilateral tele-operator in the presence of substantial time-varying delays based on the wave transformation. By adding a filter inside the communication channel, a criterion is developed to show why the proposed bilateral control law is stable for large time-varying delays. To show the validity of the proposed scheme, we conduct several experiments with a six-degree of freedom master/slave system in the large time-varying case. Results demonstrate that this method could guarantee both passivity and tracking performance.
语种: 英语
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10223
Appears in Collections:机器人学研究室_会议论文

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作者单位: 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.Chinese Academy of Sciences, Graduate University, Beijing, 100049, China

Recommended Citation:
Yang FP,Li HY,Wang YC. Wave-transformation-based control law for teleoperation with large time-varying delays[C]. 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012). Guangzhou, China. December 11-14, 2012.Wave-transformation-based control law for teleoperation with large time-varying delays.
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文件名： Wave-Transform-based on control law for teleoperation with time-varying delay .pdf
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