Achieving transparency for teleoperator systems under position and rate control

TitleAchieving transparency for teleoperator systems under position and rate control
Publication TypeConference Paper
Year of Publication1995
AuthorsZhu, M., and S. E. Salcudean
Conference NameIntelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Pagination7 -12 vol.2
Date Publishedaug.
Keywords1-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

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


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