Two-Channel Control for Scaled Teleoperation

Son, HI

doi:10.1109/ICCAS.2008.4694348

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Two-Channel Control for Scaled Teleoperation

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Son, HI
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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引用

Son, H. (2008). Two-Channel Control for Scaled Teleoperation. In International Conference on Control, Automation and Systems (ICCAS 2008) (pp. 1284-1289). Piscataway, NJ, USA: IEEE.

引用: https://hdl.handle.net/11858/00-001M-0000-0013-C6CB-2

要旨

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.