A design framework for telerobotics using the H_∞ approach

摘要

This paper presents a design framework for a controller of a telerobotic system. The controller is designed so the dynamic behaviors of the master robot and the slave robot are function of each other. This paper first describes these functions, which the designer sets based upon the application, and then proposes a control architecture to achieve these functions. To guarantee that the specified functions and proposed architecture govern the system behavior, H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control theory and model reduction technique are used. Several experiments were conducted to verify the theoretical derivations.