A METHOD OF IMPROVING THE DYNAMIC PERFORMANCE OF TELEROBOTICS SYSTEMS

THE OBJECTIVE OF THIS PROJECT IS TO DEVELOP AN APPROACH THATCOMMANDS TELEROBOTS TO MOVE WITH GREATLY INCREASED DYNAMIC PERFORMANCE. THIS PERFORMANCE INCREASE WILL BE ACHIEVED BY ELIMINATING THE EXCITATION OF OSCILLATIONS IN THE MACHINE. SETTLING TIME, THEREFORE, WILL BE SIGNIFICANTLY REDUCED. THE FEASIBILITY OF A NEW TECHNIQUE CALLED IMPULSE SHAPING WILL BE INVESTIGATED. A RUDIMENTARY VERSION OF THIS NEW TECHNIQUE HAS BEEN DEMONSTRATED ON SIMPLE RESEARCH SYSTEMS (BOTH IN SOFTWARE AND HARDWARE). THE OBJECTIVE OF THIS WORK IS TO FORMULATE THIS TECHNIQUE FOR MORE COMPLEX MACHINES. THE RESULTS THAT HAVE BEEN OBTAINED TO DATE INDICATE THAT THIS TECHNIQUE, IF PURSUED, COULD SIGNIFICANTLY IMPROVE THE TASK-PERFORMING CAPABILITIESOF TELEROBOTS AND OF OTHER MACHINES. THIS INNOVATIVE EXTENSION OF THE IMPULSE-SHAPING TECHNIQUE WOULD RESULT IN A NEW TECHNOLOGY AVAILABLE FOR MACHINE CONTROL. THE OBJECTIVE OF THIS PROJECT IS TO DEVELOP AN APPROACH THATCOMMANDS TELEROBOTS TO MOVE WITH GREATLY INCREASED DYNAMIC PERFORMANCE. THIS PERFORMANCE INCREASE WILL BE ACHIEVED BY ELIMINATING THE EXCITATION OF OSCILLATIONS IN THE MACHINE. SETTLING TIME, THEREFORE, WILL BE SIGNIFICANTLY REDUCED. THE FEASIBILITY OF A NEW TECHNIQUE CALLED IMPULSE SHAPING WILL BE INVESTIGATED. A RUDIMENTARY VERSION OF THIS NEW TECHNIQUE HAS BEEN DEMONSTRATED ON SIMPLE RESEARCH SYSTEMS (BOTH IN SOFTWARE AND HARDWARE). THE OBJECTIVE OF THIS WORK IS TO FORMULATE THIS TECHNIQUE FOR MORE COMPLEX MACHINES. THE RESULTS THAT HAVE BEEN OBTAINED TO DATE INDICATE THAT THIS TECHNIQUE, IF PURSUED, COULD SIGNIFICANTLY IMPROVE THE TASK-PERFORMING CAPABILITIESOF TELEROBOTS AND OF OTHER MACHINES. THIS INNOVATIVE EXTENSION OF THE IMPULSE-SHAPING TECHNIQUE WOULD RESULT IN A NEW TECHNOLOGY AVAILABLE FOR MACHINE CONTROL.