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.
Design of Robust Stable Master-Slave Systems with Uncertain Dynamics and Time-Delay
2002 ; Barcelona
2002
Conference paper
Electronic Resource
English
Robust Stability Criteria for Uncertain Linear Systems with Time-Delay
British Library Online Contents | 1993
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