Title :
Causality analysis using bond-graph and its significance in bilateral teleoperation
Author :
Park, Hyung-Soon ; Chang, Pyung Hun
Author_Institution :
Korea Adv. Inst. of Sci. & Technol., South Korea
Abstract :
In this paper, causality of teleoperation is described. By using bond-graph modeling, the causality of ideal operation is derived and desirable architectures for the causality are suggested. The importance of causality consideration is demonstrated by that inconsistent causality gives rise to instability, and is confirmed through experiments.
Keywords :
bond graphs; causality; telecontrol; bond-graph modeling; causality; human operator; teleoperating systems; teleoperation; Bonding; Control systems; Equations; Humans; Load flow; Marine vehicles; Master-slave; Mechanical systems; Power system modeling; Stability;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041727
