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Bilateral Telerobotics in Presence of Time-Varying Delays and Packet-Loss

Hosseini, Ali (2008) Bilateral Telerobotics in Presence of Time-Varying Delays and Packet-Loss. DLR-Interner Bericht. DLR-IB 515-2008/3. Diploma. RWTH Aachen. 78 S.

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In force reflecting teleoperation systems, Master and Slave mechanisms are connected through a communication mean to exchange information. Different communication mediums have been used for different teleoperation applications so far, ranging from stiff mechanical bars to the Internet. Most of the communication mediums introduce latencies in the exchange line. So the Master-Slave systems are feedback control systems where the loop is closed over the time delay. Constant time delay transforms a finite dimensional system to infinite dimensional system, sensitive to the gains of the control loop with small stability margins and unsafe for interaction with unknown environments. ...

Item URL in elib:https://elib.dlr.de/54289/
Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Bilateral Telerobotics in Presence of Time-Varying Delays and Packet-Loss
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:29 February 2008
Open Access:No
Number of Pages:78
Keywords:Bilateral, Telerobotics, Presence, Time-Varying, Delay, Packet-Loss, Master, Slave, system, interaction
Institution:RWTH Aachen
Department:Institut für Regelungstechnik
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Laskey, Jessica
Deposited On:28 Oct 2008
Last Modified:27 Apr 2009 14:59

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