Title :
Power and impedance scaling in bilateral manipulation
Author :
Colgate, J. Edward
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., USA
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;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131973
