Title :
A robust multilateral shared controller for dual-user teleoperation systems
Author :
Khademian, Behzad ; Hashtrudi-Zaad, Keyvan
Author_Institution :
Dept. of Electr. & Comput. Eng., Queen´´s Univ., Kingston, ON
Abstract :
This paper proposes a force-position multilateral shared control architecture for dual-user teleoperation systems that is robust stable to uncertainties in userspsila hand dynamics, environment impedance and userspsila dominance over the task. The proposed controller is evaluated for intermittent contact for different levels of dominance of the users over the task using dynamic simulations.
Keywords :
force control; position control; robot dynamics; robust control; telerobotics; collaborative telerobotics; dual-user teleoperation systems; force-position multilateral shared control architecture; robust multilateral shared controller; Collaboration; Control systems; Force control; Impedance; Master-slave; Medical robotics; Rehabilitation robotics; Robots; Robust control; Uncertainty; Dual-user teleoperation; Dynamics uncertainties; Robust control;
Conference_Titel :
Electrical and Computer Engineering, 2008. CCECE 2008. Canadian Conference on
Conference_Location :
Niagara Falls, ON
Print_ISBN :
978-1-4244-1642-4
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2008.4564869
