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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.

Item URL in elib:https://elib.dlr.de/11775/
Document Type:Article
Additional Information:LIDO-Berichtsjahr=2002,
Title:Entwurf von robusten Telemanipulationssystemen mit Parameterraumverfahren
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bajcinca, N.UNSPECIFIEDUNSPECIFIED
Koeppe, R.UNSPECIFIEDUNSPECIFIED
Date:2001
Journal or Publication Title:at Automatisierungstechnik
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
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 assignment
DLR - Research theme (Project):V - no assignment
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > System Dynamics and Control (former Control Design Engineering)
Deposited By: DLR-Beauftragter, elib
Deposited On:31 Oct 2006
Last Modified:31 Jul 2019 19:15

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