Design framework for telerobotics using the H sub( infinity ) approach

This paper presents a design framework for a controller of a telerobotic system. The controller is designed so the dynamic behaviors of the master robot and the slave robot are functions of each other. This paper first describes these functions, which the designer sets based upon the application, an...

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Bibliographic Details
Published in:American Control Conference, 1992 1992, 1992-01, Vol.ol. 4, p.2931
Main Authors: Tsay, T I, Kazerooni, H
Format: Article
Language:English
Online Access:Get full text
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Summary:This paper presents a design framework for a controller of a telerobotic system. The controller is designed so the dynamic behaviors of the master robot and the slave robot are functions of each other. This paper first describes these functions, which the designer sets based upon the application, and then proposes a control architecture to achieve these functions. To guarantee that the specified functions and proposed architecture govern the system behavior, H sub( infinity ) control theory and model reduction techniques are used. Several experiments were conducted to verify the theoretical derivations.