Estimating Environment Parameters for Teleoperation System with Time Delay

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dc.authorwosidBaran, Eray/U-3499-2019
dc.contributor.authorMajeed, Fatimah Jabbar
dc.contributor.authorAzeem, Hafiz Huzaifa
dc.contributor.authorBaran, Fray A.
dc.date.accessioned2024-07-18T20:47:19Z
dc.date.available2024-07-18T20:47:19Z
dc.date.issued2022
dc.departmentİstanbul Bilgi Üniversitesien_US
dc.description17th IEEE International Conference on Advanced Motion Control (AMC) -- FEB 18-20, 2022 -- ELECTR NETWORKen_US
dc.description.abstractThis paper demonstrates how recursive least squares (RLS) can be used to estimate the parameters of remote environment contact force which can be used to render a virtual environment on the operator side in a bilateral teleoperation system. Proper and fast estimation of the remote environment impedance plays a crucial role in the realization of local force controllers for time delayed teleoperation systems. Addressing that challenge, in this paper, three variants of RLS estimators are implemented and compared against three different impedance models. The algorithms are tested in the simulation environment making use of a recorded real experiment data set. The force reconstruction performances are compared to evaluate the implemented models and estimators. Based on the simulation results, one of the estimators and one of the models are selected for experimental validation on a single degree of freedom motion control system. The results obtained from the experiments confirm how the estimated forces match with that of the actual force responses and provide promising potential for further application in local force controllers of the teleoperation systems.en_US
dc.description.sponsorshipIEEEen_US
dc.description.sponsorshipIstanbul Bilgi University [RDI.2020.1]en_US
dc.description.sponsorshipThis study is partially supported by the Internal Research Grant RDI.2020.1 of Istanbul Bilgi University.en_US
dc.identifier.doi10.1109/AMC51637.2022.9729304
dc.identifier.endpage443en_US
dc.identifier.isbn978-1-7281-7711-3
dc.identifier.issn1943-6572
dc.identifier.startpage438en_US
dc.identifier.urihttps://doi.org/10.1109/AMC51637.2022.9729304
dc.identifier.urihttps://hdl.handle.net/11411/7767
dc.identifier.wosWOS:000803053000072en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartof2022 Ieee 17th International Conference on Advanced Motion Control (Amc)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectEnvironment Estimationen_US
dc.subjectRecursive Least Squaresen_US
dc.subjectBilateral Teleoperationen_US
dc.subjectTime Delayen_US
dc.titleEstimating Environment Parameters for Teleoperation System with Time Delayen_US
dc.typeConference Objecten_US

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