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

Prokopiou Platon, A; Tzafestas Spyros, G; Harwin William, S

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