Achieving transparency for teleoperator systems under position and rate control

Author

Zhu, M. ; Salcudean, S.E.

Author_Institution

Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada

Volume

2

fYear

1995

fDate

5-9 Aug 1995

Firstpage

7

Abstract

A four-channel data transmission structure has been suggested in the literature to achieve “transparency” for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixed position/rate mode. A one degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability

Keywords

data communication; stability; telerobotics; velocity control; 1-d.o.f. system; four-channel data transmission structure; master-slave kinematic correspondence laws; master-slave teleoperator systems; mixed position/rate mode; one degree-of-freedom example; position control; rate control; teleoperator systems; transparency; Control systems; Data communication; Impedance; Kinematics; Master-slave; Position control; Robust stability; Space exploration; Stability analysis; Teleoperators; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

0-8186-7108-4

Type

conf

DOI

10.1109/IROS.1995.526131

Filename

526131