서지주요정보
Analysis and design of stability and transparency of bilateral control system with time delay = 시간 지연이 있는 양방향 제어 시스템의 안정성과 투명성 분석 및 설계
서명 / 저자 Analysis and design of stability and transparency of bilateral control system with time delay = 시간 지연이 있는 양방향 제어 시스템의 안정성과 투명성 분석 및 설계 / Jang-Ho Cho.
저자명 Cho, Jang-Ho ; 조장호
발행사항 [대전 : 한국과학기술원, 2004].
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등록번호

8014968

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 04070

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초록정보

Force feedback can increase overall working efficiency in teleoperation systems. Although force feedback has many advantages, teleoperation systems can become unstable when there is a time delay. The key goal of this thesis is to compensate the time delay. We try to extend wave-based control architecture, to find passivity condition for 4-channel architecture, to find transparency condition while maintain the passivity, to verify proposed condition using simulation. In this thesis, the scattering theory and passivity theory is used to analyze bilateral control system. In wave-based control architecture, if we choose master's characteristic impedance, then chosen the slave's characteristic impedance automatically. And some controller is added in control architecture for extending wave-based control architecture. This thesis proposes passivity condition for all the types of general 4-channel transparency-optimized bilateral control architecture with time delay. Passivity conditions of 4-channel transparency optimized bilateral control architecture are shown in the equations. And this thesis proposes transparency condition that also maintains the stability of the teleoperation system

서지기타정보

서지기타정보
청구기호 {MME 04070
형태사항 vi, 55 p. : 삽도 ; 26 cm
언어 영어
일반주기 저자명의 한글표기 : 조장호
지도교수의 영문표기 : Doo-Yong Lee
지도교수의 한글표기 : 이두용
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 Reference : p. 51-53
주제 bilateral control system
time delay
stability
transparency
양방향 제어 시스템
시간 지연
안정성
투명성
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