Scaled teleoperation controller design for micromanipulation over Internet
Scaled teleoperation controller design for micromanipulation over Internet
复制标题
用于通过互联网进行微操作的规模化遥操作控制器设计
DOI：
10.1109/robot.2004.1302439
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
J. Fontaine
中科院分区：
文献类型：
--
作者：
M. Boukhnifer;Antoine Ferreira;J. Fontaine
Developments on micro/nano manipulation and Internet technologies allow potential impacts on networked-micro-automation of small industrial products. However, reliable and efficient tele-micromanipulation systems with haptic feedback over the Internet face strong problems due to the nonlinear nature of the microenvironment and time-varying delays in communication lines. Towards this end, this paper presents a robust bilateral controller design using H/sub /spl infin//-optimal control and /spl mu/-synthesis frameworks. This approach allows a convenient means to tradeoff the optimization of various performance criteria (micro scale force/position) and robustness for a prespecified time-delay margin and force scaling factors. The validity of the proposed method is demonstrated by simulations and experiments for a pick-and-place micromanipulation task.
