Title :
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
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;
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
DOI :
10.1109/IROS.1995.526131
