Journal
AUTOMATICA
Volume 42, Issue 12, Pages 2035-2057Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2006.06.027
Keywords
teleoperation; robotic manipulators; telerobotics; robot control; passivity; passivity-based control; scattering theory
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This survey addresses the subject of bilateral teleoperation, a research stream with more than 50 years of history and one that continues to be a fertile ground for theoretical exploration and many applications. We focus on the control theoretic approaches that have been developed to address inherent control problems such as delays and information loss. Exposure to several concurrent applications is provided, and possible future trends are outlined. (c) 2006 Elsevier Ltd. All rights reserved.
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