Quantitative comparison of bilateral teleoperation systems using mu-synthesis
SCIE
SCOPUS
- Title
- Quantitative comparison of bilateral teleoperation systems using mu-synthesis
- Authors
- KIM, KEEHOON; Cavusoglu, MC; Chung, WK
- Date Issued
- 2007-08
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Abstract
- This paper presents a quantitative comparison framework for bilateral teleoperation systems (BTSs) that have different dynamic characteristics and sensory configurations for a given task-dependent performance objective (TDPO). mu-synthesis is used to develop the framework since it can efficiently treat systems containing uncertainties and disturbances. The framework consists of: 1) a feasibility test and 2) a comparison methodology using prioritized TDPOs. As the formulation used is based on mu-synthesis, the system, operator, and. environment models are represented in the form of linear nominal models with frequency-dependent multiplicative uncertainties. This framework is applied to a BTS including an uncertain human operator and environment in a practical case study. The validity of the proposed quantitative framework is confirmed through experiments. The proposed framework can be used as a tool to design BTSs, especially when there are constraints in designing drive mechanisms and choosing sensory configurations.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/23234
- DOI
- 10.1109/TRO.2007.900625
- ISSN
- 1552-3098
- Article Type
- Article
- Citation
- IEEE TRANSACTIONS ON ROBOTICS, vol. 23, no. 4, page. 776 - 789, 2007-08
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