A method for simultaneously increasing transparency and stability robustness in bilateral telemanipulation

Author

Speich, John E. ; Fite, Kevin ; Goldfarb, Michael

Author_Institution

Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA

Volume

3

fYear

2000

fDate

2000

Firstpage

2671

Abstract

Describes a design technique for simultaneously increasing the transparency bandwidth and stability robustness of a two-channel position-force bilateral teleoperation architecture. Specifically, the stability and performance enhancements are obtained by introducing a dynamic compensator into the system to shape the frequency-domain properties of the human-teleoperator-environment loop. This design technique is demonstrated in a single degree-of-freedom numerical example

Keywords

force control; manipulator kinematics; position control; robust control; telerobotics; velocity control; bilateral telemanipulation; design technique; dynamic compensator; frequency-domain properties; human-teleoperator-environment loop; stability robustness; transparency; two-channel position-force bilateral teleoperation architecture; Bandwidth; Control systems; Feeds; Force control; Humans; Impedance; Load flow; Master-slave; Robust stability; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.846431

Filename

846431