A new position error based robust controller design framework of teleoperation for free to contact motion

被引：0

作者：

Park, K ^{[1
]}

Chung, WK ^{[1
]}

Youm, Y ^{[1
]}

机构：

[1] Pohang Univ Sci & Technol, POSTECH, Dept Mech Engn, Robot & Biomechatron Lab, Pohang, South Korea

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

There was a paper on robust controller design framework of teleoperation[10]. This design method strongly depends on the initial setup of the system and can not be applied to the realistic situation which includes the transition motion as free to contact motion because the controllers were separately derived for the free motion and contact motion. Therefore, we want to propose a new design framework which can solve this dependence. To prove the effectiveness of the proposed method, comparative simulation with the existing four channel design method was performed.

引用

页码：4140 / 4146

页数：7

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