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Projection-Based Force-Reflection Algorithms With Frequency Separation for Bilateral Teleoperation.
- Source :
- IEEE/ASME Transactions on Mechatronics; Feb2015, Vol. 20 Issue 1, p143-154, 12p
- Publication Year :
- 2015
-
Abstract
- Projection-based force-reflection (PBFR) algorithms have been previously demonstrated to substantially improve stability characteristics of bilateral teleoperators with communication delays; however, the transient response of the PBFR algorithms suffers from relatively slow force convergence. As a result, the high-frequency component of the reflected force is lost during the initial phase of contact with the environment, which has a strong negative effect on the haptic perception of the environmental stiffness and texture. In this paper, a new type of PBFR algorithms are developed which solve the aforementioned problem. The new algorithms are based on the idea to separate different frequency bands in the force-reflection signal and apply the PBFR principle to the low-frequency component, while reflecting the high-frequency component directly. Both theoretical analysis and experimental results are presented; the results obtained confirm that the new algorithms fundamentally improve force convergence without a negative effect on stability of the teleoperator system with communication delays. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 10834435
- Volume :
- 20
- Issue :
- 1
- Database :
- Complementary Index
- Journal :
- IEEE/ASME Transactions on Mechatronics
- Publication Type :
- Academic Journal
- Accession number :
- 98736692
- Full Text :
- https://doi.org/10.1109/TMECH.2014.2307334