Master-slave and teleoperation systems with kinesthetic feedback enhance the dexterity of an operator performing manipulation tasks in remote, not accessible, or scaled environments. Kinesthetic feedback is achieved by closing bi-directional control loops between the operator and teleoperator site. This article proposes a method for the synthesis of robust bi-directional control loops in parameter space. Using the approach of singular frequencies a method for the synthesis of Hurwitz- and Gamma-stable bi-directional controllers is developed and its application is shown by simulation. Robust performance is achieved w.r.t. parameter uncertainties of the operator and teleoperator dynamics and the bi-directional communication time delay.


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    Titel :

    Design of Robust Stable Master-Slave Systems with Uncertain Dynamics and Time-Delay


    Beteiligte:
    Bajcinca, N. (Autor:in) / Koeppe, R. (Autor:in) / Ackermann, J. (Autor:in)

    Kongress:

    2002 ; Barcelona


    Erscheinungsdatum :

    2002


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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