Achieving transparency for teleoperator systems under position and rate control
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 7-12
- https://doi.org/10.1109/iros.1995.526131
Abstract
A four-channel data transmission structure has been suggested in the literature to achieve "transparency" for master-slave teleoperator systems under position control. In this paper, the result is generalized to include teleoperator systems that are under rate control or more general master-slave kinematic correspondence laws, such as a mixed position/rate mode. A one degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability.Keywords
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