A Coordinating Controller for Improved Task Performance in Multi-user Teleoperation
Identifieur interne : 003E88 ( Main/Merge ); précédent : 003E87; suivant : 003E89A Coordinating Controller for Improved Task Performance in Multi-user Teleoperation
Auteurs : Hiroyuki Tanaka [Japon] ; Thomas Schau [Allemagne] ; Kouhei Ohnishi [Japon] ; Angelika Peer [Allemagne] ; Martin Buss [Allemagne]Source :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2010.
Abstract
Abstract: A teleoperation system extends cognitive and manipulatory skills of a human to a remote site. Here, a multi-user teleoperation system consisting of two haptic interfaces and two teleoperator arms is considered. In addition to a position-based admittance control scheme between corresponding master and slave systems, we introduce a virtual coupling as coordinating controller between the two master and slave systems. Using a robust stability analysis we determine enlarged stability regions in the parameter space compared to the case without coordinating controller. As shown in a complementary paper, an evaluation of the proposed approach moreover yields significant improvements in performance and efficiency.
Url:
DOI: 10.1007/978-3-642-14064-8_23
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