Analysis and design of stability and transparency of bilateral control system with time delay = 시간 지연이 있는 양방향 제어 시스템의 안정성과 투명성 분석 및 설계

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Force feedback can increase overall working efficiency in teleoperation systems. Although force feedback has many advantages, teleoperation systems can become unstable when there is a time delay. The key goal of this thesis is to compensate the time delay. We try to extend wave-based control architecture, to find passivity condition for 4-channel architecture, to find transparency condition while maintain the passivity, to verify proposed condition using simulation. In this thesis, the scattering theory and passivity theory is used to analyze bilateral control system. In wave-based control architecture, if we choose master``s characteristic impedance, then chosen the slave``s characteristic impedance automatically. And some controller is added in control architecture for extending wave-based control architecture. This thesis proposes passivity condition for all the types of general 4-channel transparency-optimized bilateral control architecture with time delay. Passivity conditions of 4-channel transparency optimized bilateral control architecture are shown in the equations. And this thesis proposes transparency condition that also maintains the stability of the teleoperation system
Advisors
Lee, Doo-Yongresearcher이두용researcher
Description
한국과학기술원 : 기계공학전공,
Publisher
한국과학기술원
Issue Date
2004
Identifier
237946/325007  / 020023587
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학전공, 2004.2, [ vi, 55 p. ]

Keywords

stability; time delay; bilateral control system; transparency; 투명성; 안정성; 시간 지연; 양방향 제어 시스템

URI
http://hdl.handle.net/10203/46037
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=237946&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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