Analysis of maneuverability and stability of micro-teleoperation systems

In this paper, we first define the ideal response of micro-teleoperation. Then, we discuss the robust stability of bilateral control systems based on the structured singular value of scattering matrix. Finally, we propose a new control scheme which can realize the ideal response. It is shown that the proposed control scheme satisfies the robust stability condition. A prototype of 1DOF teleoperation system with a mini manipulator was developed. The validity of the proposed control scheme is confirmed by experiments and compared to the conventional control schemes, such as the symmetric position type and force reflecting type