HapticV1, Main, Exploration, bibRecord, 006B37

Scaled teleoperation controller design for micromanipulation over internet

Identifieur interne : 006B37 ( Main/Exploration ); précédent : 006B36; suivant : 006B38

Scaled teleoperation controller design for micromanipulation over internet

Auteurs : Moussa Boukhnifer [France] ; Antoine Ferreira [France] ; Jean-Guy Fontaine [France]

Source :

RBID : Pascal:06-0270433

Descripteurs français

Pascal (Inist)
- Téléopération, Synthèse commande, Rétroaction, Système à retard, Système paramètre variable, Commande robuste, Commande H infini, Commande optimale, Robustesse, Micromanipulation, Internet, Echelle nanométrique, Sensibilité tactile, Bilatéral, Temps retard, Temps différé, Facteur échelle, Optimisation, Valeur singulière structurée.

English descriptors

KwdEn :
- Bilateral, Control synthesis, Delay system, Delay time, Delayed time, Feedback regulation, H infinite control, Internet, Micromanipulation, Nanometer scale, Optimal control, Optimization, Remote operation, Robust control, Robustness, Scale factor, Structured singular value, Tactile sensitivity, Time varying system.

Abstract

Recent 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 to strong problems due to the nonlinear nature of microenvironment and time-varying delays in communication lines. Towards this end, this paper presents a robust bilateral controller design using H∞-optimal control and μ-synthesis frameworks. This approach allows a convenient means of 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.

Affiliations:

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 000D29
to stream PascalFrancis, to step Curation: 000777
to stream PascalFrancis, to step Checkpoint: 000C24
to stream Main, to step Merge: 006F46
to stream Main, to step Curation: 006B37

Le document en format XML

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<term>Feedback regulation</term>
<term>H infinite control</term>
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<term>Optimal control</term>
<term>Optimization</term>
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<front><div type="abstract" xml:lang="en">Recent 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 to strong problems due to the nonlinear nature of microenvironment and time-varying delays in communication lines. Towards this end, this paper presents a robust bilateral controller design using H∞-optimal control and μ-synthesis frameworks. This approach allows a convenient means of 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.</div>
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Scaled teleoperation controller design for micromanipulation over internet

Scaled teleoperation controller design for micromanipulation over internet

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri