Bilateral control of teleoperators with time delay
- 6 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 8, 167-173
- https://doi.org/10.1109/cdc.1988.194290
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
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