DocumentCode
299910
Title
Experimental study of 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
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
634
Abstract
Many researchers have studied bilateral master-slave teleoperator systems, especially since Anderson and Spong (1989) proposed a novel and simple method to overcome the instability due to transmission delays. In this paper we 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 for the time delay is also discussed, and the effectiveness of the system is shown by experiments
Keywords
bilinear systems; delays; manipulators; stability; telerobotics; bilateral master-slave manipulator system; bilateral master-slave teleoperator systems; bilinear model; instability; stability; tele-bilateral impedance control; time delay; transmission delays; Control systems; Delay effects; Force control; Humans; Impedance; Indium tin oxide; Master-slave; Nonlinear control systems; Stability analysis; Teleoperators;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525355
Filename
525355
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