Modeling and stability analysis of a scaled telemanipulation system

Author

Hwang, Dal-Yeon ; Hannaford, Blake

Author_Institution

Dept. of Electr. Eng., Washington Univ., Seattle, WA, USA

fYear

1994

fDate

18-20 Jul 1994

Firstpage

32

Lastpage

37

Abstract

When the scaled teleoperation is used, the stability issue becomes important due to the high gains in position or force scaling. We used two experimental methods to identify the stable region of position and force scaling factors of a one axis system having 4000:1 force scaling capability. We used a simple classical teleoperation control law. An indirect closed loop approach with ARX technique was used to model the nonlinear slave system with a flexible printed circuit cable

Keywords

autoregressive processes; control system analysis; nonlinear control systems; stability; telerobotics; ARX technique; flexible printed circuit cable; force scaling; indirect closed loop approach; modeling; nonlinear slave system; position scaling; scaled telemanipulation system; stability analysis; teleoperation; Actuators; Force control; Humans; Impedance; Manipulators; Master-slave; Power system modeling; Predictive models; Pulse width modulation; Stability analysis;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ROMAN.1994.365960

Filename

365960