Adaptive impedance control in haptic teleoperation to improve transparency under time-delay

Tzafestas, C; Velanas, S; Fakiridis, G

dc.contributor.author	Tzafestas, C	en
dc.contributor.author	Velanas, S	en
dc.contributor.author	Fakiridis, G	en
dc.date.accessioned	2014-03-01T02:45:05Z
dc.date.available	2014-03-01T02:45:05Z
dc.date.issued	2008	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32141
dc.subject	Haptic Display	en
dc.subject	Impedance Control	en
dc.subject	lyapunov stability	en
dc.subject	On-line Estimation	en
dc.subject	Performance Measure	en
dc.subject	Time Delay	en
dc.subject.other	Computer networks	en
dc.subject.other	Control theory	en
dc.subject.other	Industrial engineering	en
dc.subject.other	Optical properties	en
dc.subject.other	Remote control	en
dc.subject.other	Robotics	en
dc.subject.other	System stability	en
dc.subject.other	Time delay	en
dc.subject.other	Transparency	en
dc.subject.other	Tele operations	en
dc.subject.other	Time delaying	en
dc.subject.other	Adaptive control systems	en
dc.title	Adaptive impedance control in haptic teleoperation to improve transparency under time-delay	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2008.4543211	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2008.4543211	en
heal.identifier.secondary	4543211	en
heal.publicationDate	2008	en
heal.abstract	This paper proposes the application of an adaptive impedance control scheme to alleviate some of the problems associated with the presence of time delays in a haptic teleoperation system. Continuous on-line estimation of the remote environment's impedance is performed, and is then used as a local model for haptic display control. Lyapunov stability of the proposed impedance adaptation law is demonstrated. A series of experiments is performed to evaluate the performance of this teleoperation control scheme. Two performance measures are defined to assess transparency and stability of the teleoperator. Simulation results show the superior performance of the proposed adaptive scheme, with respect to direct teleoperation, particularly in terms of increasing the stability margin and of significantly ameliorating transparency in the presence of large time delays. Experimental results, using a Phantom Omni as the haptic master device, support this conclusion. ©2008 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2008.4543211	en
dc.identifier.spage	212	en
dc.identifier.epage	219	en