Transparent Bilateral Teleoperation under Position and Rate Control-Reference-Cited by-同舟云学术

Transparent Bilateral Teleoperation under Position and Rate Control

Published:2000-12 Issue:12 Volume:19 Page:1185-1202
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Salcudean Septimiu E.,Zhu Ming,Zhu Wen-Hong,Hashtrudi-Zaad Keyvan¹

Affiliation:

1. Department of Electrical and Computer Engineering, University of British Columbia, 2356 Main Mall, Vancouver, British Columbia, Canada V6T 1Z4

Abstract

A four-channel control architecture 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 mixedposition/rate mode. A one-degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability. The validity of the theory has been verified through simulations and experiments.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/02783640022068020

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