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Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation

Singh, Harsimran and Jafari, Aghil and Peer, Angelika and Ryu, Jee-Hwan (2018) Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation. In: IEEE International Conference on Intelligent Robots and Systems, pp. 4972-4979. IEEE. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 01-05 March 2018, Madrid, Spain. ISBN 978-1-5386-8094-0 ISSN 2153-0866

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Official URL: https://ieeexplore.ieee.org/abstract/document/8593866

Abstract

Enhancing transparency of a teleoperation system by increasing the command-following bandwidth has not received lots of attention so far. This is considered a challenging task since in a teleoperation system the command-following bandwidth of the slave robot motion controller cannot be increased with a conventional motion controller as the desired trajectory is instantaneously commanded by the human user and thus, cannot be considered to be given in a pre-computed, smooth second order derivative form. We propose a method to increase the command-following bandwidth by extending the previously introduced Successive Stiffness Increment (SSI) approach to bilateral teleoperation. The approach allows realizing a very high motion controller gain, which cannot be realized with a conventional bilateral teleoperation controller as confirmed by experimental results.

Item URL in elib:https://elib.dlr.de/132704/
Document Type:Conference or Workshop Item (Speech)
Title:Enhancing the Command-Following Bandwidth for Transparent Bilateral Teleoperation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Singh, Harsimranharsimran.singh (at) dlr.dehttps://orcid.org/0000-0002-6735-9945
Jafari, AghilUNSPECIFIEDUNSPECIFIED
Peer, AngelikaUNSPECIFIEDUNSPECIFIED
Ryu, Jee-Hwanjhryu (at) kaist.ac.krUNSPECIFIED
Date:October 2018
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 4972-4979
Publisher:IEEE
Series Name:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISSN:2153-0866
ISBN:978-1-5386-8094-0
Status:Published
Keywords:Teleoperation, bandwidth, transparency
Event Title:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Madrid, Spain
Event Type:international Conference
Event Dates:01-05 March 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Singh, Harsimran
Deposited On:13 Dec 2019 10:25
Last Modified:13 Dec 2019 10:25

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