DocumentCode
3254279
Title
Achievable dynamic performance in telerobotic systems
Author
Bobgan, Peter M. ; Kazerooni, H.
Author_Institution
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2040
Abstract
A control algorithm is defined for a telerobotic system in which the dynamic behaviors of the slave robot and the master robot are functions of each other. These functions, which are the designer´s choice and depend on the application, are described. A control architecture that guarantees that the specified functions govern the dynamic behavior of the telerobotic system is presented. The stability of the closed-loop system (i.e., master robot, slave robot, human, and the load being manipulated) is analyzed, and sufficient conditions for stability are derived. Experimental results that verify the theoretical predictions are given
Keywords
closed loop systems; dynamics; robots; stability; telecontrol; closed-loop system; control architecture; dynamic performance; master-slave robots; stability; sufficient conditions; telerobotic systems; Communication system control; Control systems; Humans; Low pass filters; Manipulator dynamics; Master-slave; Robots; Stability analysis; Telerobotics; Transfer functions;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131927
Filename
131927
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