A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2010; you can also visit the original URL.
The file type is
A passive control scheme for the bilateral teleoperation of an electrohydraulic actuator and a motorized joystick is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact. By ensuring that the closed loop system behaves like a passive two port device, safety and stability when coupled to other systems are improved. The control scheme is developed by first usingdoi:10.1080/14399776.2004.10781191 fatcat:43di6wv2zjcwpgrgxeknmzkp5q