Title :
Experimental study of tele-bilateral impedance control using bilinear model
Author :
Yamakita, M. ; Negi, M. ; Ito, K.
Author_Institution :
Dept. of Inf. & Comput. Sci., Toyohashi Univ. of Technol., Japan
Abstract :
Many researchers have studied bilateral master-slave teleoperator systems, especially since Anderson and Spong (1989) proposed a novel and simple method to overcome the instability due to transmission delays. In this paper we propose a bilateral master-slave manipulator system in which the slave impedance can be adjusted by the operator in a bilateral fashion. The stability of the system for the time delay is also discussed, and the effectiveness of the system is shown by experiments
Keywords :
bilinear systems; delays; manipulators; stability; telerobotics; bilateral master-slave manipulator system; bilateral master-slave teleoperator systems; bilinear model; instability; stability; tele-bilateral impedance control; time delay; transmission delays; Control systems; Delay effects; Force control; Humans; Impedance; Indium tin oxide; Master-slave; Nonlinear control systems; Stability analysis; Teleoperators;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525355
