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Adaptive online prediction of operator position in teleoperation with unknown time-varying delay: simulation and experiments
, Article Neural Computing and Applications ; Volume 33, Issue 13 , 2021 , Pages 7575-7592 ; 09410643 (ISSN) ; Yazdankhoo, B ; Beigzadeh, B ; Meghdari, A ; Sharif University of Technology
Springer Science and Business Media Deutschland GmbH
2021
Abstract
One of the most important problems in teleoperation systems is time delay and packet loss in the communication channel, which can affect transparency and stability. One way to overcome the time delay effects in a teleoperation system is to predict the master-side motion. In this way, when data is received in the slave side, it will be considered as the current position of the master robot and, thus, complete transparency could be achieved. The majority of the previous works regarding operator position prediction have considered known and constant time delay in the system; however, in the real applications, time delay is unknown and variable. In this paper, an adaptive online prediction...
Adaptive online prediction of operator position in teleoperation with unknown time-varying delay: simulation and experiments
, Article Neural Computing and Applications ; 2020 ; Yazdankhoo, B ; Beigzadeh, B ; Meghdari, A ; Sharif University of Technology
Springer Science and Business Media Deutschland GmbH
2020
Abstract
One of the most important problems in teleoperation systems is time delay and packet loss in the communication channel, which can affect transparency and stability. One way to overcome the time delay effects in a teleoperation system is to predict the master-side motion. In this way, when data is received in the slave side, it will be considered as the current position of the master robot and, thus, complete transparency could be achieved. The majority of the previous works regarding operator position prediction have considered known and constant time delay in the system; however, in the real applications, time delay is unknown and variable. In this paper, an adaptive online prediction...