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Design of Robust Stable Master-Slave Systems with Uncertain Dynamics and Time-Delay

Bajcinca, N. and Koeppe, R. and Ackermann, J. (2002) Design of Robust Stable Master-Slave Systems with Uncertain Dynamics and Time-Delay. Proc. of 15th IFAC World Congress b'02, 2002-07-21 - 2002-07-26, Barcelona.

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Abstract

Master-slave and teleoperation systems with kinesthetic feedback enhance the dexterity of an operator performing manipulation tasks 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. 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. Robust performance is achieved w.r.t. parameter uncertainties of the operator and teleoperator dynamics and the bi-directional communication time delay.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2002,
Title:Design of Robust Stable Master-Slave Systems with Uncertain Dynamics and Time-Delay
Authors:
AuthorsInstitution or Email of Authors
Bajcinca, N.UNSPECIFIED
Koeppe, R.UNSPECIFIED
Ackermann, J.UNSPECIFIED
Date:2002
Status:Published
Keywords:Master-slave systems, singular frequencies, parameter space transformations, parameter space control
Event Title:Proc. of 15th IFAC World Congress b'02
Event Location:Barcelona
Event Type:international Conference
Event Dates:2002-07-21 - 2002-07-26
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Flexible Aircraft (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:16 Sep 2005
Last Modified:12 Dec 2013 20:02

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