Decoupling control based on virtual mechanisms for telemanipulation

Tuning a telemanipulation system is still a real challenge. The task model is often unknown, the system must remain stable for a wide range of tasks, configurations, for different modes which share in a different way all the system degrees of freedom. Thinking of numerous controllers which come up w...

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Bibliographic Details
Published inProceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Vol. 3; pp. 1924 - 1931 vol.3
Main Authors Micaelli, A., Bidard, C., Andriot, C.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1998
Subjects
Control design
Control systems
Design methodology
End effectors
Force control
Kinematics
Manipulator dynamics
Master-slave
Orbital robotics
Robot control
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Summary:Tuning a telemanipulation system is still a real challenge. The task model is often unknown, the system must remain stable for a wide range of tasks, configurations, for different modes which share in a different way all the system degrees of freedom. Thinking of numerous controllers which come up with all these different situations is quite unrealistic. In fact, a compromise between the number of control parameters and the system performances has to be found. Here, we propose a method for the design of a decoupling controller allowing different tunings along teleoperated DOF and locally controlled ones.
ISBN:078034300X
9780780343009
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1998.680594