Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2000.11a
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- Pages.721-724
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- 2000
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- 2005-8446(pISSN)
Teleoperator Control Systems with Short Time Delay
시간 지연을 포함한 원격제어 시스템
Abstract
This paper has been demonstrated to be essential to successful telemanipulator control when the communication delay between master arms in the operator control station and telemanipulators in the remote site. This paper includes the human dynamics to generate a control command, the monitoring force feedback in order to robust under short time delays and the controller not to requre the derivative of interaction forces. Simulation results suggest that, the proposed control system should be superior to conventional systems in terms of performance and robustness under short time delays.