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Empirische Inferenz Conference Paper 2008

Two-Channel Control for Scaled Teleoperation

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There is a trade-off between stability and performance in haptic control systems. In this paper, a stability and performance analysis is presented for a scaled teleoperation system in an effort to increase the performance of the system while maintaining the stability. The stability is quantitatively defined as a metric using Llewellynpsilas absolute stability criterion. Position tracking and kinesthetic perception are used as the performance indices. The analysis is carried out using various scaling factors and impedances of human and environment. A two-channel position-position (PP) controller and a two-channel force-position (FP) controller are applied for the analysis and simulation.

Author(s): Son, HI. and Lee, DY.
Links:
Journal: International Conference on Control, Automation and Systems
Pages: 1284-1289
Year: 2008
Month: October
Day: 0
Publisher: IEEE
Bibtex Type: Conference Paper (inproceedings)
Address: Piscataway, NJ, USA
DOI: 10.1109/ICCAS.2008.4694348
Event Name: International Conference on Control, Automation and Systems (ICCAS 2008)
Event Place: Seoul, South Korea
Digital: 0
Electronic Archiving: grant_archive
ISBN: 978-89-950038-9-3
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

BibTex 

@inproceedings{6463,
  title = {Two-Channel Control for Scaled Teleoperation},
  journal = {International Conference on Control, Automation and Systems},
  abstract = {There is a trade-off between stability and performance in haptic control systems. In this paper, a stability and performance analysis is presented for a scaled teleoperation system in an effort to increase the performance of the system while maintaining the stability. The stability is quantitatively defined as a metric using Llewellynpsilas absolute stability criterion. Position tracking and kinesthetic perception are used as the performance indices. The analysis is carried out using various scaling factors and impedances of human and environment. A two-channel position-position (PP) controller and a two-channel force-position (FP) controller are applied for the analysis and simulation.},
  pages = {1284-1289},
  publisher = {IEEE},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Piscataway, NJ, USA},
  month = oct,
  year = {2008},
  slug = {6463},
  author = {Son, HI. and Lee, DY.},
  month_numeric = {10}
}