DocumentCode
2970266
Title
Bilateral control of teleoperators with time delay
Author
Anderson, Robert J. ; Spong, Mark W.
Author_Institution
Coord. Sci. Lab., Illinois Univ., Urbana, IL, USA
fYear
1988
fDate
7-9 Dec 1988
Firstpage
167
Abstract
The authors present a novel control law for teleoperators which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law was implemented on a single-axis force-reflecting hand controller, and preliminary results are shown
Keywords
delays; robots; stability; telecontrol; bilateral control; instability; passivity; robots; scattering theory; single-axis force-reflecting hand controller; telecontrol; time delay; Damping; Delay effects; Force control; Force feedback; Force measurement; Humans; Master-slave; Robot kinematics; Stability; Teleoperators;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location
Austin, TX
Type
conf
DOI
10.1109/CDC.1988.194290
Filename
194290
Link To Document