Analysis and design of haptic telerobotic system

M. G. Her, K. S. Hsu, W. S. Yu, Mansour Karkoub

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

A control scheme is derived for a 'master-slave' telerobotic dynamic system with haptic behaviour. The telerobotic system consists of a 'master' robot, operated by a human arm, and a kinematically identical 'slave' robot, located at a remote site. When the operator moves the handler of the 'master' back and forth, the remote 'slave' mimics the motion in a constrained or unconstrained environment. The disturbance and reaction forces from the environment and the loads are fed back to the handler of the 'master' and felt by the operator. Thus, the operator gets a feel of what is 'out there' without being 'there'. The advantage of the presented control scheme is the integration of the dynamics of the operator arm, actuators, and the environment in the closed-loop control system for stability analysis. It is shown that the experimental and theoretical results are in good agreement, and that the designed controller is robust to constrained/unconstrained environment and load disturbances.

Original languageEnglish
Pages (from-to)306-314
Number of pages9
JournalIEE Proceedings: Control Theory and Applications
Volume148
Issue number4
DOIs
Publication statusPublished - 2001
Externally publishedYes

Fingerprint

telerobotics
Robots
operators
Closed loop control systems
robots
Mathematical operators
Dynamical systems
disturbances
Actuators
Controllers
controllers
actuators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Instrumentation

Cite this

Analysis and design of haptic telerobotic system. / Her, M. G.; Hsu, K. S.; Yu, W. S.; Karkoub, Mansour.

In: IEE Proceedings: Control Theory and Applications, Vol. 148, No. 4, 2001, p. 306-314.

Research output: Contribution to journalArticle

Her, M. G. ; Hsu, K. S. ; Yu, W. S. ; Karkoub, Mansour. / Analysis and design of haptic telerobotic system. In: IEE Proceedings: Control Theory and Applications. 2001 ; Vol. 148, No. 4. pp. 306-314.
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