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http://dx.doi.org/10.5391/JKIIS.2008.18.6.746

Teleoperatoin System Control using a Robust State Estimation in Networked Environment  

Jin, Tae-Seok (동서대학교 메카트로닉스공학과)
Kim, Hyun-Sik (동명대학교 로봇시스템공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.18, no.6, 2008 , pp. 746-753 More about this Journal
Abstract
In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.
Keywords
Teleoperation; Virtual model; Time-delay; Network; LQG/LTR;
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