{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,12,15]],"date-time":"2024-12-15T15:10:10Z","timestamp":1734275410336,"version":"3.30.2"},"reference-count":22,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2004,3,5]],"date-time":"2004-03-05T00:00:00Z","timestamp":1078444800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[2004,4]]},"abstract":"Abstract<\/jats:title>This paper describes a new control method of teleoperation systems with communication time delay. This method models the teleoperation system in the state space, considering all the possible interactions that could appear in the operator\u2010master\u2010slave\u2010environment set, and it uses the Taylor expansion to model the time delay. The control system allows that the slave manipulator follows the master in spite of the time delay in the communication channel. The tracking is achieved by state convergence between the master and the slave. The method is also able to establish the desired dynamics of this convergence and the dynamics of the slave manipulator. Furthermore, a simple design procedure is provided to obtain the control system gains. These control gains are calculated solving a set of seven equations. The control method is robust to the uncertainty of the design parameters, so it is not necessary to obtain good estimations of these parameters. Simulations and experiments with a one DOF teleoperation system are presented to verify the control method. \u00a9 2004 Wiley Periodicals, Inc.<\/jats:p>","DOI":"10.1002\/rob.20007","type":"journal-article","created":{"date-parts":[[2004,3,9]],"date-time":"2004-03-09T08:01:16Z","timestamp":1078819276000},"page":"167-182","source":"Crossref","is-referenced-by-count":29,"title":["Control of Teleoperators with Communication Time Delay through State Convergence"],"prefix":"10.1002","volume":"21","author":[{"given":"Jose M.","family":"Azorin","sequence":"first","affiliation":[]},{"given":"Oscar","family":"Reinoso","sequence":"additional","affiliation":[]},{"given":"Rafael","family":"Aracil","sequence":"additional","affiliation":[]},{"given":"Manuel","family":"Ferre","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2004,3,5]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-011-6103-9"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"B.Hannaford Stability and performance tradeoffs in bi\u2010lateral telemanipulation Proc IEEE Int Conf on Robotics and Automation Scottsdale AZ 1989 pp.1764\u20101767.","DOI":"10.1109\/ROBOT.1989.100230"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.258052"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/001872086600800509"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.24201"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/48.64895"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.134272"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.258053"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(01)00164-6"},{"key":"e_1_2_1_11_2","unstructured":"J.M.Azorin O.Reinoso J.M.Sabater andR.Aracil A new control method of teleoperators with time delay Proc 11th Int Conf on Advanced Robotics Coimbra Portugal 2003."},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF01664754"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.326566"},{"key":"e_1_2_1_14_2","unstructured":"M.C.\u00c7avu\u015f\u01e7lu A.Sherman andF.Tendick Bilateral controller design for telemanipulation in soft environments Proc IEEE Int Conf Robotics and Automation Seoul Korea 2001."},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.2991\/jnmp.2001.8.s.46"},{"volume-title":"Modern control engineering","year":"1998","author":"Ogata K.","key":"e_1_2_1_16_2"},{"key":"e_1_2_1_17_2","unstructured":"J.M.Azorin O.Reinoso J.M.Sabater R.P.\u0143eco andR.Aracil Dynamic analysis for a teleoperation system with time delay Proc IEEE Conf on Control Applications Istanbul Turkey 2003."},{"key":"e_1_2_1_18_2","doi-asserted-by":"crossref","unstructured":"S.\u2010I.Niculescu E.I.Verriest L.Dugard andJ.\u2010M.Dion Stability of linear systems with delayed state: a guided tour Linear Time Delay Systems. 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