ICROS (제어로봇시스템학회지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

시간 지연이 있는 양방향 원격조작 제어 기술 동향

  • 서창훈 (광주과학기술원 기전공학부) ;
  • 박성준 (광주과학기술원 기전공학부) ;
  • 류제하 (광주과학기술원 기전공학부)
  • Published : 2011.06.25
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Abstract

This paper presents the state of the art of control strategies for bilateral teleoperation systems under time delays. In the bilateral teleoperation that has force feedback, the time delay in the communication channel is the main source of instability. To cope with this problem. a number of control methods have been proposed. Among many control strategies. key aspects of the recent passivity-based methods are mainly summarized for approaches with wave variables. PO/PC (passivity observer/passivity controller), simple PD, and energy bounds.

Keywords

References

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