Abstract
The paper is focused on the minimization of the time transport delay effect which is present in the communication channel of a telemanipulation system. For the minimization of the time transport delay, a prediction block was proposed. The prediction block is characterized by a unitary gain and positive-linear phase shift in a useful frequency spectrum of the system operation. These features allow the block to predict the signal with a constant time and minimizes the gain to a unity level. The use of prediction blocks in the communication channel strongly improved the position tracking abilities of the unilateral system which feature was confirmed in experiments.
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Acknowledgements
The work was carried out as part of the PBS3/A6/28/2015 project, “The use of augmented reality, interactive voice systems and operator interface to control a crane”, financed by NCBiR.
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Sakow, M., Parus, A., Pajor, M., Miadlicki, K. (2018). Unilateral Hydraulic Telemanipulation System for Operation in Machining Work Area. In: Hamrol, A., Ciszak, O., Legutko, S., Jurczyk, M. (eds) Advances in Manufacturing. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-68619-6_40
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DOI: https://doi.org/10.1007/978-3-319-68619-6_40
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