Article : texte imprimé

Loop Shaping for Transparency and Stability Robustness in Time-Delayed Bilateral Telemanipulation

Fite, Kevin B., Auteur ; Michael Goldfarb, Auteur ; Rubio, Angel |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 126 N° 3, Septembre 2004)

This paper presents a control methodology that provides transparency and stability robustness in bilateral telemanipulation systems that include a significant time delay in the communication channels. The method utilizes an adaptive Smith predic[...]

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