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
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;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194290
