Causality-based approach for bilateral teleoperation systems : analysis and control strategy = 양방향 원격조종 시스템에 대한 인과성 기반 접근 : 분석 및 제어 전략analysis and control strategy

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This thesis deals with causality of bilateral teleoperation systems. By performing the causality analysis, physical behaviors of teleoperation systems are well explained, and the analysis enables improvement in stability and transparency of bilateral teleoperation. Furthermore, control strategies for real teleoperation tasks are proposed based on the causality. By causality, we mean dependency relationship; which is independent (cause) and which is dependent (effect). Causality is one of the physical characteristics of physical systems which involve energy interaction. Causality has been considered important for correct modeling, identification of system failure, and proper controller design. However, unfortunately, there are few works which consider causality of teleoperation systems where stability and transparency have been major issues. A teleoperation system consists of a human operator, master arm, slave arm, and environment. These subsystems mutually have dependency relationship, i.e., causality, therefore causality analysis helps to understand physical behavior of teleoperation system and, furthermore, it can bring benefits for improving stability and transparency of teleoperation systems. This thesis is motivated in this context. By using bond-graph modeling, the causalities in teleoperation systems are identified. Four models are proposed depending on the causalities of operator-master part and slave-environment part. After identifying four models, the benefits of causality-based approach are determined in terms of stability and transparency. First, for stability, causality-based stability provides broader and easier design of stable control architectures compared to previous stability criterion. In previous works, absolute stability has been adopted for stable teleoperation system design. However, absolute stability has difficulty even for small time delay between master and slave, and it has been known that absolute stability compromises transparenc...
Advisors
Chung, Pyung-Hunresearcher장평훈researcher
Description
한국과학기술원 : 기계공학전공,
Publisher
한국과학기술원
Issue Date
2004
Identifier
237540/325007  / 000965172
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 기계공학전공, 2004.2, [ xv, 170 p. ]

Keywords

CONTROL STRATEGY; STABILITY; TELEOPERATION SYSTEM; CAUSALITY ANALYSIS; TELE-REHABILITATION TASKS; 원격 재활 작업; 제어 전략; 안정성; 원격조종 시스템; 인과성 분석

URI
http://hdl.handle.net/10203/43494
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=237540&flag=dissertation
Appears in Collection
ME-Theses_Ph.D.(박사논문)
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