Comparison of Control Methods in Time-delay Teleoperation
نویسندگان
چکیده
This paper presents a comparison among different teleoperation architectures, with respect to their performance with different control schemes. Two different control strategies are considered, a method to compensate for time-varying delays and a standard architecture without compensation. These control strategies are compared within our current operating systems and software architectures. The schemes are compared on a contact task in a soft environment. The comparison is carried out with experiments implemented on a system whose slave consists of an industrial robot with an open software architecture and is equipped with a wrist force sensor; the master is a three degree of freedom manipulator. The slave is located in the robotics laboratory at the University of Verona, and the master is in the robotics laboratory at ENEA in Rome. Quantitative performance measures are compared to assess the properties of the software architectures to achieve better performance with different control schemes.
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