This paper presents a two-channel architecture and design approach that enables a simultaneous increase in the transparency and stability robustness of a bilateral teleoperation system, and additionally provides a high degree of transparency robustness to uncertainty in the operator and environment dynamics. The former is provided by the use of a loop-shaping filter incorporated on the master-to-slave motion command, and the latter by local feedback loops around both the master and slave manipulators. The proposed architecture and design approach are illustrated on a single-degree-of-freedom example with and without a communication channel time delay. Finally, the implications of scaling on the stability of the teleoperator loop are discussed.
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September 2001
Technical Papers
Transparency and Stability Robustness in Two-Channel Bilateral Telemanipulation
Kevin B. Fite,
Kevin B. Fite
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
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John E. Speich,
John E. Speich
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
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Michael Goldfarb
Michael Goldfarb
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
Search for other works by this author on:
Kevin B. Fite
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
John E. Speich
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
Michael Goldfarb
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division September 1, 1999. Associate Editor: E. A. Misawa.
J. Dyn. Sys., Meas., Control. Sep 2001, 123(3): 400-407 (8 pages)
Published Online: September 1, 1999
Article history
Received:
September 1, 1999
Citation
Fite , K. B., Speich , J. E., and Goldfarb, M. (September 1, 1999). "Transparency and Stability Robustness in Two-Channel Bilateral Telemanipulation ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 400–407. https://doi.org/10.1115/1.1387018
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