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Entwurf von robusten Telemanipulationssystemen mit Parameterraumverfahren

Bajcinca, N. and Koeppe, R. (2001) Entwurf von robusten Telemanipulationssystemen mit Parameterraumverfahren. at Automatisierungstechnik, 49 (12), pp. 557-565.

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Abstract

Man-machine-systems with kinesthetic feedback enhance the dexterity of an operator performing manipulation tasks using a teleoperator system in remote, not accessible, or scaled environments. Kinesthetic feedback is achieved by closing bi-directional control loops between the operator and teleoperator site. This article proposes a method for the synthesis of robust bi-directional control loops in parameter space. The synthesis is based on known parameters of the operator and teleoperator manipulation systems, and on uncertain parameters such as the operator and teleoperator contact stiffness and the bi-directional communication time delay. Using the approach of singular frequencies, a method for the synthesis of Hurwitz- and Gamma-stable bi-directional controllers is developed and its application is shown by simulation.

Document Type:Article
Additional Information:LIDO-Berichtsjahr=2002,
Title:Entwurf von robusten Telemanipulationssystemen mit Parameterraumverfahren
Authors:
AuthorsInstitution or Email of Authors
Bajcinca, N.UNSPECIFIED
Koeppe, R.UNSPECIFIED
Date:2001
Journal or Publication Title:at Automatisierungstechnik
Volume:49
Page Range:pp. 557-565
Status:Published
Keywords:master-slave systems, robust control, singular frequencies, time-delay
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:other
DLR - Research area:Transport
DLR - Program:V - no assignement
DLR - Research theme (Project):V -- no assignement
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: elib DLR-Beauftragter
Deposited On:31 Oct 2006
Last Modified:12 Dec 2013 20:02

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