Impedance controller design of internet-based teleoperation using absolute stability concept

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2002, Pages 2256-2261

  Cho, Hyun Chul ^a   Park, Jong Hyeon ^a  

^a Hanyang University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

COMMUNICATION CHANNELS (INFORMATION THEORY); DAMPING; DEGREES OF FREEDOM (MECHANICS); INTERNET; LAPLACE TRANSFORMS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MECHANICAL VARIABLES CONTROL; REMOTE CONTROL; SYSTEM STABILITY; TORQUE;

IMPEDANCE CONTROLLER; TELEOPERATION SYSTEM;

CONTROL SYSTEM SYNTHESIS;

EID: 0036451151     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. R. V. Dubey, T. F. Chan, and S. E. Everett, "Variable Damping Impedance Control of a Bilateral Telerobotic System," IEEE Control Systems, pp. 37-44, 1997.
2. A. Rubio, A. Avello and J. Florez, "Adaptive Impendance Modification of a Master-Slave Manipulator," IEEE Int. Conf. on Robotics and Automation, pp. 1794-1796, 1999.
3. S. E. Salcudean, S. Tafazoli, P. D. Lawrence, and I. Chau, "Impedance Control of a Teleoperated Mini Excavator," IEEE Int. Conf. on Advanced Robotics, pp. 19-25, 1997.
4. S. S. Haykin, Active Network Theory, Addison-Wesley, 1970.
5. F. B. Llewellyn, "Some Fundamental Properties of Transmission Systems," Proc. IRE, Vol. 40, pp. 271-283, 1952.
6. G. Raisbeck, "A Definition of Passive Linear Networks in Terms of Time and Energy," J. of Applied Physics, Vol. 25, 1954.
7. B. Hannaford, "Stability and Performance Tradeoffs in Bi-Lateral Telemanipulation," IEEE Int. Conf. on Robotics and Automation, pp. 1764-1767, 1989.
8. G. J. Raju, G. C. Verghese, and T. B. Sheridan, "Design Issues in 2-Port Network Models of Bilateral Remote Manipulation," IEEE Int. Conf. on Robotics and Automation, pp. 1316-1321, 1989.
9. M. Shi, G. Tao, S. Graves, and J. H. Downs "Positive Realness and Tracking of Teleoperation Systems," IEEE Conf. on Decision and Control, pp. 2527-2532, 1998.
10. R. J. Adams and B. Hannaford, "Stable Haptic Interaction with Virtual Environments," IEEE Trans. on Robotics and Automation, Vol. 15, No. 3, pp. 465-474, 1999.
11. T. Fjallbrant, "Activity and Stability of Linear Networks," Trans. IEEE, CT-12, 1965.
12. H. Kazerooni, "On the Robot Compliant Motion Control," ASME J. Dynamic Systems, Measurement, and Control, pp. 416-425, 1989.
13. R. W. Daniel and P. R. McAree, "Fundamental Limits of Performance for Force Reflecting Teleoperation," Int. J. Robotics Research, pp. 811-830, 1998.
14. D. A. Lawrence, "Stability and Transparency in Bilateral Teleoperation," IEEE Trans. on Robotics and Automation, Vol. 9, No. 5, pp. 624-637, 1993.