DocumentCode
3263023
Title
Power and impedance scaling in bilateral manipulation
Author
Colgate, J. Edward
Author_Institution
Dept. of Mech. Eng., Northwestern Univ., USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2292
Abstract
A power and impedance scaling bilateral manipulator (such as an extender or a macro-micro bilateral manipulator) can greatly enhance the manual capabilities of a human operator, but it can also compromise the inherent stability of the operator. A condition for the robust stability of an operator/bilateral manipulator environment system is derived using the structured singular value. The application of this condition is illustrated with several examples of power and impedance scaling via a two-channel bilateral manipulator
Keywords
robots; stability; telecontrol; bilateral manipulation; impedance scaling; inherent stability; power scaling; robots; structured singular value; telecontrol; Cybernetics; Elbow; Humans; Impedance; Manipulators; Mechanical engineering; Power amplifiers; Prosthetics; Robust stability; Shoulder;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131973
Filename
131973
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