Impedance controller design of internet-based teleoperation using absolute stability concept
HC Cho, JH Park - IEEE/RSJ international conference on …, 2002 - ieeexplore.ieee.org
HC Cho, JH Park
IEEE/RSJ international conference on intelligent robots and systems, 2002•ieeexplore.ieee.orgRelationships between impedance parameters and scaling factors are derived using
absolute stability and passivity. For this, the teleoperation system is represented as a two-
port model with a. hybrid matrix. Design procedure of the impedance parameters for the
absolute stability of the teleoperator under the time delay is proposed. The validity of the
proposed control scheme is demonstrated by experiments with a 1-dof master/slave system
connected through the Internet.
absolute stability and passivity. For this, the teleoperation system is represented as a two-
port model with a. hybrid matrix. Design procedure of the impedance parameters for the
absolute stability of the teleoperator under the time delay is proposed. The validity of the
proposed control scheme is demonstrated by experiments with a 1-dof master/slave system
connected through the Internet.
Relationships between impedance parameters and scaling factors are derived using absolute stability and passivity. For this, the teleoperation system is represented as a two-port model with a. hybrid matrix. Design procedure of the impedance parameters for the absolute stability of the teleoperator under the time delay is proposed. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system connected through the Internet.
ieeexplore.ieee.org
Showing the best result for this search. See all results