Title :
Personal scaling on micro-teleoperation
Author :
Sano, Akihito ; Fujimoto, Hido ; Takai, Toshihito
Author_Institution :
Dept. of Mech. Eng., Nagoya Inst. of Technol., Japan
Abstract :
This study aims to develop a force-reflecting macro-micro teleoperator. Force-reflection is significantly important in complex teleoperations. Due to the transmission delay, it is very difficult to ensure stability. Accordingly, in this paper, the controllers are designed based on the framework of H∞ theory. In general an objective of the scaling problem is to magnify the scale of the micro environment, with minimal loss of physical information. However, in this study a human oriented scaling (personal scaling) is suggested
Keywords :
H∞ control; stability; telerobotics; H infinity controllers; force reflecting macro micro teleoperator; force reflection; human oriented scaling; micro-teleoperation; personal scaling; stability; telerobotics; transmission delay; Delay effects; Force control; Force measurement; Force sensors; Humans; Impedance; Master-slave; Mechanical engineering; Stability; Teleoperators;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.973118
