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시간 지연이 있는 양방향 원격조작 제어 기술 동향  

Seo, Chang-Hun (광주과학기술원 기전공학부)
Park, Seong-Jun (광주과학기술원 기전공학부)
Ryu, Je-Ha (광주과학기술원 기전공학부)
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ICROS / v.17, no.2, 2011 , pp. 27-35 More about this Journal
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.
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