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Design of a robust bilateral controller for teleoperators with modeling uncertainties

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3 Author(s)
Hyoung-Ki Lee ; Dept. of Robotics, Mech. Eng. Lab., Tsukuba, Japan ; K. Tanie ; Myung Jin Chung

Teleoperation is the extension of a person's sensing and manipulation capability to a remote location. Teleoperators can be generally modeled as a linear transfer function inherently including modeling uncertainties. Modeling uncertainties can make the system unstable and its performance poor. Thus we present a design framework for a bilateral controller of the teleoperator that achieves stability and performance in the presence of modeling uncertainties using μ-synthesis. Simulation and experiments are conducted to confirm the validity of the proposed method

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

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