A method for simultaneously increasing transparency and stability robustness in bilateral telemanipulation

J.E. Speich, K. Fite, M. Goldfarb
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)  
This paper describes a design technique for simultaneously increasing the transparency bandwidth and stability robustness of a two-channel position-force bilateral teleoperation architecture. Specifically, the stability and performance enhancements are obtained by introducing a dynamic compensator into the system to shape the frequency-domain properties of the human-teleoperatorenvironment loop. This design technique is demonstrated in a single degree-offreedom numerical example.
doi:10.1109/robot.2000.846431 dblp:conf/icra/SpeichFG00 fatcat:m5lab2pcf5g7rf7nahfyot6si4