TY - GEN
T1 - Design framework for telerobotics using the H∞ approach
AU - Tsay, T. I.
AU - Kazerooni, H.
PY - 1992/12/1
Y1 - 1992/12/1
N2 - This paper presents a design framework for a controller of a telerobotic system. The controller is designed so the dynamic behaviors of the master robot and the slave robot are functions of each other. This paper first describes these functions, which the designer sets based upon the application, and then proposes a control architecture to achieve these functions. To guarantee that the specified functions and proposed architecture govern the system behavior, H∞ control theory and model reduction techniques are used. Several experiments were conducted to verify the theoretical derivations.
AB - This paper presents a design framework for a controller of a telerobotic system. The controller is designed so the dynamic behaviors of the master robot and the slave robot are functions of each other. This paper first describes these functions, which the designer sets based upon the application, and then proposes a control architecture to achieve these functions. To guarantee that the specified functions and proposed architecture govern the system behavior, H∞ control theory and model reduction techniques are used. Several experiments were conducted to verify the theoretical derivations.
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M3 - Conference contribution
AN - SCOPUS:0027069714
SN - 0780302109
T3 - Proceedings of the American Control Conference
SP - 2931
EP - 2935
BT - Proceedings of the American Control Conference
PB - Publ by American Automatic Control Council
T2 - Proceedings of the 1992 American Control Conference
Y2 - 24 June 1992 through 26 June 1992
ER -