Title:
Wave-based teleoperation with prediction
Wave-based teleoperation with prediction
Author(s)
Munir, Saghir
Book, Wayne J.
Book, Wayne J.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
Wave variables based on passivity and scattering theory provide a good tool for establishing bilateral teleoperation in the presence of a constant time delay. Recently, these techniques have been extended to be used for a varying time delay, as in the case of Internet-based teleoperation. Although stability is guaranteed for virtually any time delay, performance rapidly degrades for larger delays. In this paper, a predictor derived from a modified Smith predictor along with a Kalman estimator and an energy regulator is used to enhance the performance of a wave-based teleoperator in the presence of a constant delay. Also, the current wave transformation equations are extended to a more general case (better suited for systems with multiple degrees of freedom)
Sponsor
Date Issued
2001-06
Extent
Resource Type
Text
Resource Subtype
Proceedings
Post-print
Post-print