@inproceedings{b24d897c2bcc496694a26ec127e009df,
title = "Time delayed non-minimum phase slave tele-robotics",
abstract = "Challenges created by non-minimum phase slave robots in time delayed telerobotics systems is the main focus of this paper. This new category of telerobotics systems has many practical applications such as minimally invasive time delayed tele-surgeries. The non-minimum phase (NMP) tele-manipulation creates many challenges especially in presence of communication time delay. In this article, a thorough analysis on the impacts of NMP slaves on the stability and transparency of the time delayed telerobotics is given. Additionally, a control-architecture is proposed for this category of teleoperation. The transparency and stability of the proposed controller are mathematically analyzed. This architecture called the Pseudo Three-Channel (PTC). Experimental results are performed to illustrate the effectiveness of the proposed control structure.",
author = "Atashzar, {S. F.} and Talebi, {H. A.} and M. Shahbazi and F. Towhidkhah and Patel, {R. V.}",
year = "2011",
doi = "10.1109/CDC.2011.6160513",
language = "English (US)",
isbn = "9781612848006",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3952--3957",
booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",
note = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 ; Conference date: 12-12-2011 Through 15-12-2011",
}