제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A New Robust Controller Design Architecture of Teleoperation to Overcome the Compensation Problem

  • Park, Kyong-Ho (Robotics & Bio-Mechatronics Lab., Department of Mechanical Engineering Pohang University of Science & Technology(POSTECH)) ;
  • Chung, Wan-Kyun (Robotics & Bio-Mechatronics Lab., Department of Mechanical Engineering Pohang University of Science & Technology(POSTECH)) ;
  • Youm, Young-Il (Robotics & Bio-Mechatronics Lab., Department of Mechanical Engineering Pohang University of Science & Technology(POSTECH))
  • Published : 2003.10.22
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Abstract

There were many papers on the bilateral teleoperation system. But a few papers dealt with the controller design method in the presence of uncertainties, disturbances and measurement noises. In this paper, we propose a robust controller design framework in teleoperation, which can overcome the compensation problem that will be defined. To prove the effectiveness of the method of proposed design, comparative simulation with the existing four channel design method was performed

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