Title :
Asymptotic stability for force reflecting teleoperators with time delays
Author :
Anderson, Robert J. ; Spong, Mark W.
Author_Institution :
Sandia Nat. Lab., Albuquerque, NM, USA
Abstract :
The authors validate their previously published (1988) algorithm for controlling a force-reflecting teleoperator with time delay. The time-delay compensation is shown to result in a control law which ensures asymptotic stability of manipulator velocities when contacting arbitrary passive environments. The results are based on the full n -DOF (degrees of freedom) nonlinear system and allow for the inclusion of power gain between the human operator and the environment
Keywords :
delays; nonlinear control systems; robots; stability; telecontrol; asymptotic stability; force-reflecting teleoperator; manipulator velocities; nonlinear system; passive environments; power gain; robots; time-delay compensation; Asymptotic stability; Control systems; Delay effects; Humans; Intelligent systems; Laboratories; Machine intelligence; Master-slave; Teleoperators; Transmission line theory;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100209
