Towards variable-time-delays-robust telemanipulation through master state prediction

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dc.contributor.author Prokopiou Platon, A en
dc.contributor.author Tzafestas Spyros, G en
dc.contributor.author Harwin William, S en
dc.date.accessioned 2014-03-01T01:15:21Z
dc.date.available 2014-03-01T01:15:21Z
dc.date.issued 1999 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/13449
dc.subject Conceptual Framework en
dc.subject General Techniques en
dc.subject Time Delay en
dc.subject.other Polynomials en
dc.subject.other Remote control en
dc.subject.other Robotics en
dc.subject.other Robustness (control systems) en
dc.subject.other Master state prediction en
dc.subject.other Telemanipulation en
dc.subject.other Mechatronics en
dc.title Towards variable-time-delays-robust telemanipulation through master state prediction en
heal.type journalArticle en
heal.identifier.primary 10.1109/AIM.1999.803183 en
heal.identifier.secondary http://dx.doi.org/10.1109/AIM.1999.803183 en
heal.publicationDate 1999 en
heal.abstract This paper presents the conceptual framework and simulation results on a general technique for time delay compensation in teleoperation, based on the prediction of the human arm position and force, i.e. effectively the master state. This is shown to be significantly less complex and more intuitive than predicting the slave and environment dynamics. Simple polynomial or spline predictors, employing no knowledge of the human arm dynamics, are shown to produce good performance for small time delays when the master force and position are smooth. However, for real life force profiles, better performance is achieved by employing a human arm model and predicting the neural input to it. en
heal.publisher IEEE, Piscataway, NJ, United States en
heal.journalName IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM en
dc.identifier.doi 10.1109/AIM.1999.803183 en
dc.identifier.spage 305 en
dc.identifier.epage 310 en

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