Design framework for telerobotics using the H approach

T. I. Tsay, H. Kazerooni

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of the American Control Conference
發行者Publ by American Automatic Control Council
頁面2931-2935
頁數5
ISBN(列印)0780302109
出版狀態Published - 1992 十二月 1
事件Proceedings of the 1992 American Control Conference - Chicago, IL, USA
持續時間: 1992 六月 241992 六月 26

出版系列

名字Proceedings of the American Control Conference
4
ISSN(列印)0743-1619

Other

OtherProceedings of the 1992 American Control Conference
城市Chicago, IL, USA
期間92-06-2492-06-26

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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  • 引用此

    Tsay, T. I., & Kazerooni, H. (1992). Design framework for telerobotics using the H approach. 於 Proceedings of the American Control Conference (頁 2931-2935). (Proceedings of the American Control Conference; 卷 4). Publ by American Automatic Control Council.