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Two-Channel Control for Scaled Teleoperation

2008

Conference Paper

ei


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.
Journal: International Conference on Control, Automation and Systems
Pages: 1284-1289
Year: 2008
Month: October
Day: 0
Publisher: IEEE

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/ICCAS.2008.4694348
Event Name: International Conference on Control, Automation and Systems (ICCAS 2008)
Event Place: Seoul, South Korea

Address: Piscataway, NJ, USA
Digital: 0
ISBN: 978-89-950038-9-3
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

Links: Web

BibTex

@inproceedings{6463,
  title = {Two-Channel Control for Scaled Teleoperation},
  author = {Son, HI. and Lee, DY.},
  journal = {International Conference on Control, Automation and Systems},
  pages = {1284-1289},
  publisher = {IEEE},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Piscataway, NJ, USA},
  month = oct,
  year = {2008},
  month_numeric = {10}
}