Stabilität und modusumschaltung von regelkreisen in teleaktionssystemen

To assist a human operator in performing teleoperation tasks in a remote, inaccessible or scaled environment, kinaesthetic control loops need to be closed via communication channels with high bandwidth. Inevitable communication time-delay, variable object stiffness and varying contact situations reduce the stability and quality of the teleoperation system. This article discusses appropriate control measures to enable a human operatorio perform intuitive and improved operation of telepresence and teleaction systems. Experiments with a laboratory scale teledrilling system operated via the Internet demonstrate the effectiveness of the proposed theoretical approach.