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P. Arcara, C. Melchiorri
"A Comparison of Control Schemes for Teleoperation with Time Delay"
 
Type Conference
Author(s) P. Arcara, C. Melchiorri
Title A Comparison of Control Schemes for Teleoperation with Time Delay
Editor Proc. IFAC Conf. on Telematics Applic. 2001, Weingarten, Germany, Lug. 24-26, 2001
Keywords Bilateral teleoperation, time delay, force feedback
Abstract
In the literature, several control schemes have been proposed for telemanipulation robotic systems. This article aims to compare and evaluate the main features and properties of the most common schemes, firstly presenting the criteria and then illustrating and discussing the results of the comparison. Obviously, it will be shown that a trade-off between stability and performances has to be made in the selection of the parameters of each control scheme.
Document d467.Document.pdf (322282 bytes)
Year 2001


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