Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Transparency Implementation for Bilateral Teleoperation System by using Two-channel Control Architecture

2채널 제어 구조를 사용한 양방향 원격조종 시스템의 투명도 구현

  • 김종현 (한국과학기술원 대학원 기계공학과) ;
  • 장평훈 (한국과학기술원 기계공학과) ;
  • 박형순 (한국과학기술원 대학원 기계공학과)
  • Published : 2003.11.01
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Abstract

Transparency has been considered as a performance measure in bilateral teleoperation system. Therefore, many issues of transparency have been studied. This paper investigates the transparency in two-channel control architectures. At first, we show the feasibility using analytic transparency-conditions and present the two classes of two-channel control architecture, which are perfectly transparent under ideal situation. In addition, remedies to problems due to impedance model estimation errors under real situation are introduced. They are as fellows; design guideline of control parameters to reduce the effect of model estimation error effect and introduction of time delay estimation for unknown dynamics. From these analyses, the systematic control scheme, which is stable and well transparent under real implementation, is proposed in two-channel control architecture. Finally, the proposed scheme is applied to a 2 D.O.F master-slave system and the experimental results show the validity of the theoretical work.

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References

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