Entwurf von robusten Telemanipulationssystemen mit Parameterraumverfahren

Kurzfassung

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.