Paper Info
Title
Mechatronic design optimization of a teleoperation system based on bounded environment passivity
Abstract
This paper presents a mechatronic analysis of a teleoperation system that provides haptic feedback. The analysis, based on the Bounded Environment Passivity method, describes the combined effect of the teleoperation controller and the master and slave hardware, including the effect of structural flexibilities, which have often been neglected in the domain of teleoperation. This results in rules of thumb for the design of the hardware and the tuning of the controller. As two of these rules of thumb pose a trade-off in hardware design, an unprecedented conceptual design optimization is described in a second part of this paper. The objective is to demonstrate the need for a mechatronic approach to the design of teleoperation systems in order to obtain maximal system performance.
Year
DOI
Venue
2010
10.1007/978-3-642-14064-8_24
EuroHaptics
Keywords
Field
DocType
mechatronic analysis,bounded environment passivity,mechatronic approach,teleoperation controller,teleoperation system,maximal system performance,slave hardware,hardware design,mechatronic design optimization,combined effect,unprecedented conceptual design optimization,bounded environment passivity method,rule of thumb,design optimization,conceptual design,system performance,haptic feedback,teleoperation,mechatronics
Teleoperation,Passivity,Conceptual design,Control theory,Simulation,Computer science,Control engineering,Rule of thumb,Mechatronics,Haptic technology,Bounded function
Conference
Volume
ISSN
ISBN
6191
0302-9743
3-642-14063-7
Citations 
PageRank 
References 
0
0.34
9
Authors
5
Name
Order
Citations
PageRank
Bert Willaert1324.39
Brecht Corteville2302.67
Herman Bruyninckx3893108.95
Hendrik Van Brussel453967.67
Emmanuel B. Vander Poorten510120.19