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http://dx.doi.org/10.5302/J.ICROS.2014.14.9036

Performance of a Time-delayed Bilateral Teleoperation: Peg-in-hole and Surface Tracking  

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)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.8, 2014 , pp. 789-794 More about this Journal
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.
Keywords
bilateral teleoperation; energy-bounding approach; peg-in-hole; surface tracking;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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