An analysis of transmissibility in bilateral tele-operation

This paper proposes an analysis method about bilateral tele-operation. The bilateral tele-operation is the key technology to the tele-communication. At this point, the bilateral tele-operation treats 2 systems and each system is controlled position and force information. Thus, force information which is attained to a system affects position and force information of another system. These effects are affected by values of gains in position regulator and force servoing, mass, cut-off frequency and so on. To analyze these effects, this paper defines transmissibility about position and force information. The proposed method enables to analyze the behavior of a system when external force is added to another system. The viability of the proposed method is confirmed by some experiments.