NDLI: Scaled teleoperation controller design for micromanipulation over Internet

Content Provider	IEEE Xplore Digital Library
Author	Boukhnifer, M. Ferreira, A. Fontaine, J.-G.
Copyright Year	2004
Description	Author affiliation: Laboratoire Vision et Robotique, ENSI de Bourges-Universite d'Orleans, Bourges, France (Boukhnifer, M.; Ferreira, A.; Fontaine, J.-G.)
Abstract	Developments on micro/nano manipulation and Internet technologies allow potential impacts on networked-micro-automation of small industrial products. However, reliable and efficient tele-micromanipulation systems with haptic feedback over the Internet face strong problems due to the nonlinear nature of the microenvironment and time-varying delays in communication lines. Towards this end, this paper presents a robust bilateral controller design using H/sub /spl infin//-optimal control and /spl mu/-synthesis frameworks. This approach allows a convenient means to tradeoff the optimization of various performance criteria (micro scale force/position) and robustness for a prespecified time-delay margin and force scaling factors. The validity of the proposed method is demonstrated by simulations and experiments for a pick-and-place micromanipulation task.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	4577
Ending Page	4583
File Size	669727
Page Count	7
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1302439
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Internet Communication system control IP networks Electrical equipment industry Telecommunication network reliability Haptic interfaces Feedback Time varying systems Delay lines Robust control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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