Title :
Tele-bilateral impedance control using bilinear model
Author :
Yamakita, M. ; Negi, M. ; Ito, K.
Author_Institution :
Dept. of Inf. & Comput. Sci., Toyohashi Univ. of Technol., Japan
Abstract :
Many researchers studied bilateral master-slave teleoperator systems especially after Anderson and Spong proposed a novel and simple method to overcome the instability due to transmission delays. In this paper the authors propose a bilateral master-slave manipulator system in which the slave impedance can be adjusted by the operator in a bilateral fashion. The stability of the system with time delay is also discussed, and the effectiveness of the system is shown by several numerical examples
Keywords :
delays; manipulators; telerobotics; bilateral master-slave manipulator system; bilateral master-slave teleoperator systems; bilinear model; slave impedance; stability; tele-bilateral impedance control; time delay; Adaptive control; Conferences; Control systems; Delay effects; Impedance; Master-slave; Programmable control; Robots; Stability; Teleoperators;
Conference_Titel :
Robot and Human Communication, 1994. RO-MAN '94 Nagoya, Proceedings., 3rd IEEE International Workshop on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-2002-6
DOI :
10.1109/ROMAN.1994.365906
