Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)

The Institute of Electronics and Information Engineers (대한전자공학회)
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A Force Reflecting Position Control for Teleoperation Systems with Signal Transmission Time Delay

신호전송 시간지연을 갖는 원격조작시스템의 힘반영 위치제어

  • 안성호 (원자력연구소 사용후핵연료원격취급실증장치개발실) ;
  • 진재현 (원자력연구소 사용후핵연료원격취급실증장치개발실) ;
  • 박병석 (원자력연구소 사용후핵연료원격취급실증장치개발실) ;
  • 윤지섭 (원자력연구소 사용후핵연료원격취급실증장치개발실)
  • Published : 2002.06.01
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Abstract

When the teleoperation system has a signal transmission time delay between slave system and control system, the position tracking performance of the slave system and system stability are likely to be deteriorated. This paper proposes a force reflecting position control scheme for teleoperation system with signal transmission time delay. The proposed scheme not only satisfy the system internal stability but also improves the position tracking performance with disturbance rejection capability. The simulation results show that the proposed control method provides excellent performances.

Keywords