Delay independent L2 stable multilateral teleoperation with damping injection

Ugur Tumerdem, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This paper introduces a method to realize multilateral teleoperation(multi operator/multi robot teleoperation) under time delay. This method provides stability regardless of the size of the delay and good performance including force feedback. We first introduce the four channel based multilateral control scheme to realize multilateral teleoperation and show using small gain theorem that as in traditional four channel bilateral control, the multilateral control scheme will be unstable. As a solution we propose adding local damping injection to the robots, and again employing the small gain theorem, we show that with adequate local damping the system can be made delay independent L2 stable.We further confirm the validity of our method and analysis with experiment results.

本文言語English
ホスト出版物のタイトルProceedings - ICIT 2010
ホスト出版物のサブタイトルIEEE-ICIT 2010 International Conference on Industrial Technology
ページ88-93
ページ数6
DOI
出版ステータスPublished - 2010 7月 14
イベントIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010 - Vina del Mar, Chile
継続期間: 2010 3月 142010 3月 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

OtherIEEE-ICIT 2010 International Conference on Industrial Technology, ICIT 2010
国/地域Chile
CityVina del Mar
Period10/3/1410/3/17

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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