Title :
A new position error based robust controller design framework of teleoperation for free to contact motion
Author :
Park, Kyongho ; Chung, Wan Kyun ; Youngil Youm
Author_Institution :
Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
fDate :
April 26-May 1, 2004
Abstract :
There was a paper on robust controller design framework of teleoperation. This design method strongly depends on the initial setup of the system and can not be applied to the realistic situation which includes the transition motion as free to contact motion because the controllers were separately derived for the free motion and contact motion. Therefore, we want to propose a new design framework which can solve this dependence. To prove the effectiveness of the proposed method, comparative simulation with the existing four channel design method was performed.
Keywords :
control system synthesis; position control; robust control; telerobotics; four channel design method; free-contact motion; position error based controller; robust controller design; teleoperation; transition motion; Control systems; Design methodology; Error correction; Force control; Force feedback; Master-slave; Motion control; Robust control; Signal processing; Velocity control;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308921