@InProceedings{PeclySouzHash:2018:MoMoCo,
author = "Pecly, Leonam S. D. and Souza, Marcelo Lopes de Oliveira e and
Hashtrudi-Zaad, Keyvan",
affiliation = "{Instituto Nacional de Pesquisas Espaciais (INPE)} and {Instituto
Nacional de Pesquisas Espaciais (INPE)} and {Queen’s University}",
title = "Model-reference model-mediated control for time-delayed
teleoperation systems",
year = "2018",
pages = "72--77",
organization = "IEEE Haptics Symposium (HAPTICS)",
address = "IEEE",
abstract = "Time delays in bilateral teleoperation systems can degrade the
transparency and result in instability. For large delays, model
predictive control or impedance reflective methods in which the
operator interacts with the slave and environment model, can help
overcome this issue. An important key to the success of these
systems is to have the local virtual slave model synchronized with
the slave. This is especially important when the slave gets into
contact with hard environments, resulting in rapid contact force
build up and slave chattering. In this paper, we propose a
model-reference model-mediated teleoperation control architecture
that provides enhanced synchronization between the slave and
virtual slave models and keeps both the master and slave
responsive. The proposed architecture is evaluated against through
simulations and experiments carried out on a 1-DOF master-slave
testbed.",
conference-location = "San Francisco, CA",
conference-year = "25-28 Mar.",
doi = "10.1109/HAPTICS.2018.8357155",
url = "http://dx.doi.org/10.1109/HAPTICS.2018.8357155",
issn = "2324-7355",
language = "en",
targetfile = "pecly_model.pdf",
urlaccessdate = "11 maio 2024"
}