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