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2010

Simple and Robust Attainment of Transparency Based on Two-Channel Control Architectures Using Time-Delay Control

9 years 12 months ago
Simple and Robust Attainment of Transparency Based on Two-Channel Control Architectures Using Time-Delay Control
Abstract This paper investigates simple and robust transparency-attainable control architectures for bilateral teleoperation. The strength of two-channel control architectures and time-delay control are exploited. First, two types of transparencyattainable two-channel control architecture are derived. In spite of the simplicity of using two communication channels, these architectures have problems in terms of implementation; they are not simple enough and not robust to uncertainties, such as errors in modeling the plant and force sensor noise. To solve the problems, timedelay control laws for two-channel control architecture are proposed. The modelindependent, nonlinear, and robust characteristics of time-delay control mitigate the problems related to complexity and robustness. Finally, the proposed control laws are applied to experiments using a 2-DOF master–slave system. The experimental results confirm the validity of the theoretical approaches. Keywords Transparency · Two-chann...
Jonghyun Kim, Hyung-Soon Park, Pyung Hun Chang
Added 28 Jan 2011
Updated 28 Jan 2011
Type Journal
Year 2010
Where JIRS
Authors Jonghyun Kim, Hyung-Soon Park, Pyung Hun Chang
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