Title :
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
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;
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.1994.365960
