Title :
Man-machine dynamic coordination for advanced teleoperation
Author :
Chung, Chung Choo ; Seo, Chin Won ; Lee, Sukhan
Author_Institution :
Div. of Electr. & Comput. Eng., Hanyang Univ., Seoul, South Korea
Abstract :
This paper presents a methodology of achieving man-machine dynamic coordination. Nonlinear dynamic compensator is designed to account for manipulator actuator saturation. Simulation results are shown to illustrate the effectiveness of the proposed method in the presence of actuator saturation in the slave arm
Keywords :
actuators; compensation; man-machine systems; manipulator dynamics; nonlinear control systems; telerobotics; actuator saturation; dynamic coordination; man-machine systems; manipulators; nonlinear dynamic compensator; slave arm; teleoperation; Actuators; Computational modeling; Delay effects; Humans; Impedance; Manipulator dynamics; Master-slave; Motion control; Space technology; Stability analysis;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.757833
