This paper presents a two-channel architecture and design approach that enables a simultaneous increase in the transparency and stability robustness of a bilateral teleoperation system, and additionally provides a high degree of transparency robustness to uncertainty in the operator and environment dynamics. The former is provided by the use of a loop-shaping filter incorporated on the master-to-slave motion command, and the latter by local feedback loops around both the master and slave manipulators. The proposed architecture and design approach are illustrated on a single-degree-of-freedom example with and without a communication channel time delay. Finally, the implications of scaling on the stability of the teleoperator loop are discussed.
Transparency and Stability Robustness in Two-Channel Bilateral Telemanipulation
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division September 1, 1999. Associate Editor: E. A. Misawa.
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Fite , K. B., Speich , J. E., and Goldfarb, M. (September 1, 1999). "Transparency and Stability Robustness in Two-Channel Bilateral Telemanipulation ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 400–407. https://doi.org/10.1115/1.1387018
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