Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance of a Time-delayed Bilateral Teleoperation: Peg-in-hole and Surface Tracking

양방향 원격 제어 성능 시험: Peg-in-hole 및 표면 추적

  • Park, Sungjun (Gwangju Institute Science and Technology, School of Mechatronics) ;
  • Park, Sangsoo (Gwangju Institute Science and Technology, Department of Medical System Engineering) ;
  • Baek, Sang-Yun (Gwangju Institute Science and Technology, School of Mechatronics) ;
  • Ryu, Jeha (Gwangju Institute Science and Technology, School of Mechatronics)
  • 박성준 (광주과학기술원 기전공학과) ;
  • 박상수 (광주과학기술원 의료시스템학과) ;
  • 백상윤 (광주과학기술원 기전공학과) ;
  • 류제하 (광주과학기술원 기전공학과)
  • Received : 2014.06.02
  • Accepted : 2014.06.30
  • Published : 2014.08.01
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Abstract

This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches.

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References

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