Achieving transparency for teleoperator systems under position and rate control
نویسندگان
چکیده
A four-channel data transmission structure has been suggested in the literature to achieve “transparency” 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.
منابع مشابه
Transparent Bilateral Teleoperation under Position and Rate Control
A four-channel control architecture has been suggested in the literature to achieve transparency 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 mixedposition/rate mode. A one-degree-of-freedom example is given t...
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