Affiliation:
1. National Technical University of Athens, Greece
Abstract
This chapter presents the state-of-art of the bilateral teleoperation field. It starts with a discusion of the early class of techniques, which are based on passivity and scattering theory. The main issue in bilateral telerobotic systems is the communication delay between the operator and the remote site (environment), which (if not treated) can lead the system to instability. The chapter continues by presenting the evolution of modern control techniques for stabilization and compensation of the time delay consequences. These techniques include predictive control, adaptive control, sliding-mode robust control, neural learning control, fuzzy control, and neurofuzzy control. Four case studies are reviewed that show what kind of results can be obtained.
Reference76 articles.
1. Abbot, J. J., & Okamura, A. M. (2003). Virtual fixture architecture for telemanipulation. In Proceedings of the IEEE International Conference on Robotics and Automation, (pp. 2798-2805). IEEE.
2. Bilateral control of teleoperators with time delay
3. Ang, W. T., & Riviere, G. N. (2001). Neural network methods for error canceling in human-machine manipulation. In Proceedings of the 23rd Annual International Conference of Engineering in Medicine and Biology, (pp. 3462-3465). IEEE.
4. Control schemes for teleoperation with time delay: A comparative study
5. Artigas, J., Preusche, G., & Hirzinger, G. (2006). Time domain passivity-based telepresence with time delay. In Proceedings of IEEE/RSJ International Conference Intelligent Robotics Systems (IROS), (pp. 4205-4210). IEEE.