A Framework for Quantitative Comparison of Bilateral Teleoperation Systems Using μ-Synthesis
نویسندگان
چکیده
This paper presents a quantitative comparison framework for bilateral teleoperation systems which have different dynamic characteristics and sensory configurations for a given Task Dependant Performance Objective. μ-synthesis is used to develop the framework since it can efficiently treat systems containing uncertainties and disturbances. The framework consists of i) a feasibility test, and ii) a comparison methodology using prioritized task dependent performance objectives. This framework is applied to a bilateral teleoperation system including an uncertain human operator and environment in a practical case study. The validity of the proposed quantitative framework is confirmed through experiments. The proposed framework can be used as a tool to design bilateral teleoperation systems, especially when there are constraints in designing drive mechanisms and choosing sensory configurations.
منابع مشابه
Quantitative Comparison of Bilateral Teleoperation Systems Using µ-Synthesis
This paper presents a quantitative comparison framework for bilateral teleoperation systems which have different dynamic characteristics and sensory configurations for a given Task Dependant Performance Objective. μ-synthesis is used to develop the framework since it can efficiently treat systems containing uncertainties and disturbances. The framework consists of i) a feasibility test, and ii)...
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