Transparent bilateral teleoperation under position and rate control

TitleTransparent bilateral teleoperation under position and rate control
Publication TypeJournal Article
Year of Publication2000
AuthorsSalcudean, S. E., M. Zhu, W. H. Zhu, and K. Hashtrudi-Zaad
JournalInternational Journal of Robotics Research
Volume19
Pagination1185–1202
ISSN0278-3649
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 move 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! The validity of the theory has been verified through simulations and experiments.

a place of mind, The University of British Columbia

Electrical and Computer Engineering
2332 Main Mall
Vancouver, BC Canada V6T 1Z4
Tel +1.604.822.2872
Fax +1.604.822.5949
Email:

Emergency Procedures | Accessibility | Contact UBC | © Copyright 2020 The University of British Columbia