Abstract
In this paper we analyze the transparency of the generalized scattering transformation applied to teleoperation systems with constant time delay. Particularly, the human operator, the remote environment, and the robot manipulators are modeled as dissipative instead of just passive systems. By the application of this transformation delay-independent stability is guaranteed. It is shown that transparency can be substantially improved compared to the conventional scattering transformation approach. Simulations and experimental results on a three degree-of-freedom teleoperation system validate the presented approach.
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Vittorias, I., Hirche, S. (2010). Transparency of the Generalized Scattering Transformation for Haptic Telepresence. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6191. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14064-8_27
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DOI: https://doi.org/10.1007/978-3-642-14064-8_27
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14063-1
Online ISBN: 978-3-642-14064-8
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