Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2007.04a
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- Pages.122-124
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- 2007
Implementation of passive bilateral teleoperation system
Passive 양방향 원격조작 시스템의 구현
- Published : 2007.04.27
Abstract
Master and slave of teleoperation control system through internet or long distance cable must keep stable. If one part becomes unstable or time delay happens in network, the all system can become unstable. Usually stability of teleoperation control system can distinguish by passivity. In this paper, we implemented bilateral teleopcration control system that load passivity controller to keep stability of system. Composed by manipulator that trillion this sricks and horizontal manufacturing that have force reflecting function are available and embodied so that control through wireless LAN may be available. And distinguished stability through an experiment and manufacturing performance.