A transparent bilateral controller for teleoperation considering the transition of motion

Heng Wang; K. H. Low; Michael Yu Wang

doi:10.1109/ROBOT.2007.364144

A transparent bilateral controller for teleoperation considering the transition of motion

Heng Wang, K. H. Low, Michael Yu Wang

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

Abstract

A two-channel bilateral controller is proposed for teleoperation systems, which takes into account both the free space motion and the constrained motion. Specifically, the force-position (F-P) architecture is applied during the constrained motion, while the position-position (P-P) architecture is applied during the free space motion. Perfect transparency can be achieved in theory. In addition, the controller is robust to model uncertainties and disturbances, and it does not need to switch the control modes of the master and the slave controllers during the transition between the free space motion and the constrained motion. Experiments are conducted to demonstrate the effectiveness of the proposed bilateral controller.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	4319-4324
Number of pages	6
ISBN (Print)	1424406021, 9781424406029
DOIs	https://doi.org/10.1109/ROBOT.2007.364144
Publication status	Published - 2007
Externally published	Yes
Event	IEEE International Conference on Robotics and Automation 2007 - Rome, Italy Duration: 10 Apr 2007 → 14 Apr 2007 https://ieeexplore.ieee.org/xpl/conhome/4209048/proceeding (Proceedings)

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	IEEE International Conference on Robotics and Automation 2007
Abbreviated title	ICRA 2007
Country/Territory	Italy
City	Rome
Period	10/04/07 → 14/04/07
Internet address	https://ieeexplore.ieee.org/xpl/conhome/4209048/proceeding (Proceedings)

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10.1109/ROBOT.2007.364144

Cite this

Wang, H., Low, K. H., & Wang, M. Y. (2007). A transparent bilateral controller for teleoperation considering the transition of motion. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 4319-4324). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ROBOT.2007.364144

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title = "A transparent bilateral controller for teleoperation considering the transition of motion",

abstract = "A two-channel bilateral controller is proposed for teleoperation systems, which takes into account both the free space motion and the constrained motion. Specifically, the force-position (F-P) architecture is applied during the constrained motion, while the position-position (P-P) architecture is applied during the free space motion. Perfect transparency can be achieved in theory. In addition, the controller is robust to model uncertainties and disturbances, and it does not need to switch the control modes of the master and the slave controllers during the transition between the free space motion and the constrained motion. Experiments are conducted to demonstrate the effectiveness of the proposed bilateral controller.",

author = "Heng Wang and Low, {K. H.} and Wang, {Michael Yu}",

year = "2007",

doi = "10.1109/ROBOT.2007.364144",

language = "English",

isbn = "1424406021",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

pages = "4319--4324",

booktitle = "2007 IEEE International Conference on Robotics and Automation, ICRA'07",

address = "United States of America",

note = "IEEE International Conference on Robotics and Automation 2007, ICRA 2007 ; Conference date: 10-04-2007 Through 14-04-2007",

url = "https://ieeexplore.ieee.org/xpl/conhome/4209048/proceeding",

}

Wang, H, Low, KH & Wang, MY 2007, A transparent bilateral controller for teleoperation considering the transition of motion. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07. Proceedings - IEEE International Conference on Robotics and Automation, IEEE, Institute of Electrical and Electronics Engineers, pp. 4319-4324, IEEE International Conference on Robotics and Automation 2007, Rome, Italy, 10/04/07. https://doi.org/10.1109/ROBOT.2007.364144

A transparent bilateral controller for teleoperation considering the transition of motion. / Wang, Heng; Low, K. H.; Wang, Michael Yu.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. IEEE, Institute of Electrical and Electronics Engineers, 2007. p. 4319-4324 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Other

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N2 - A two-channel bilateral controller is proposed for teleoperation systems, which takes into account both the free space motion and the constrained motion. Specifically, the force-position (F-P) architecture is applied during the constrained motion, while the position-position (P-P) architecture is applied during the free space motion. Perfect transparency can be achieved in theory. In addition, the controller is robust to model uncertainties and disturbances, and it does not need to switch the control modes of the master and the slave controllers during the transition between the free space motion and the constrained motion. Experiments are conducted to demonstrate the effectiveness of the proposed bilateral controller.

AB - A two-channel bilateral controller is proposed for teleoperation systems, which takes into account both the free space motion and the constrained motion. Specifically, the force-position (F-P) architecture is applied during the constrained motion, while the position-position (P-P) architecture is applied during the free space motion. Perfect transparency can be achieved in theory. In addition, the controller is robust to model uncertainties and disturbances, and it does not need to switch the control modes of the master and the slave controllers during the transition between the free space motion and the constrained motion. Experiments are conducted to demonstrate the effectiveness of the proposed bilateral controller.

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BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

PB - IEEE, Institute of Electrical and Electronics Engineers

T2 - IEEE International Conference on Robotics and Automation 2007

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ER -

Wang H, Low KH, Wang MY. A transparent bilateral controller for teleoperation considering the transition of motion. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07. IEEE, Institute of Electrical and Electronics Engineers. 2007. p. 4319-4324. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.2007.364144

A transparent bilateral controller for teleoperation considering the transition of motion

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