Title: Variable-Scale Bilateral Control for Micro Teleoperation
Authors: Kanno, Takahiro ×
Vander Poorten, Emmanuel
Yokokohji, Yasuyoshi #
Issue Date: Mar-2009
Publisher: Robotics Society of Japan
Series Title: Journal of the Robotics Society of Japan vol:27 issue:2 pages:117-126
Abstract: To allow efficient operation in micro-teleoperation scenarios like micro-surgery or micro-assembly we need to be
able to handle both very small objects accurately and also to make swift movements over a broad area. In this
paper, we propose a framework to design a variable-scale teleoperation(VST) system, which enables an operator to
adjust both position-scale and force-scale in real-time, It is a promising technology for micro-teleoperation. Since
VST system is a linear time-varying system and the total system includes uncertain operator and environment, gain
scheduling control and scaled Hinf control are introduced to guarantee the robust stability and robust performance
of the system. We introduced a scale-dependent weighting on control objective to achieve better performance. A
1-DOF system is built and an experiment was conducted to confirm the stability and performance of the system
designed by the proposed framework.
ISSN: 0289-1824
Publication status: published
KU Leuven publication type: DI
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
× corresponding author
# (joint) last author

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