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| Title | Achieving transparency for teleoperator systems under position and rate control |
| Publication Type | Conference Paper |
| Year of Publication | 1995 |
| Authors | Zhu, M., and S. E. Salcudean |
| Conference Name | Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on |
| Pagination | 7 -12 vol.2 |
| Date Published | aug. |
| Keywords | 1-d.o.f. system, data communication, 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, stability, teleoperator systems, telerobotics, transparency, velocity control |
| Abstract | A four-channel data transmission structure has been suggested in the literature to achieve ldquo;transparency rdquo; 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 |
| URL | http://dx.doi.org/10.1109/IROS.1995.526131 |
| DOI | 10.1109/IROS.1995.526131 |