Results of experimental studies of a teleoperator system with projection-based force reflection algorithms in the presence of communication constraints are presented. It is demonstrated that, using the projection-based force reflection algorithms, the admissible force reflection gain can be substantially increased without loosing the overall stability, which confirms the earlier theoretical results. It is also shown that this improvement is achieved without transparency deterioration.

doi.org/10.1109/IROS.2009.5354826
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Department of Systems and Computer Engineering

Polushin, I.G. (Ilia G.), Liu, P, & Lung, C.H. (2009). Experimental studies of a teleoperator system with projection-based force reflection algorithms. Presented at the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. doi:10.1109/IROS.2009.5354826