On the use of two channels for bilateral telemanipulation

ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)

Volumn 2000-O, Issue , 2000, Pages 1231-1238

  Fite, Kevin B ^a   Speich, John E ^a   Goldfarb, Michael ^a  

^a VANDERBILT UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); FREQUENCY DOMAIN ANALYSIS;

BILATERAL TELEMANIPULATION; CHANNEL ARCHITECTURE; CONTROL PROBLEMS; FEEDBACK CONTROL LOOPS; FREQUENCY DOMAINS; LEAD-LAG; LOOP-SHAPING TECHNIQUE; STABILITY ROBUSTNESS; TELEMANIPULATION SYSTEMS; TWO CHANNEL;

MANIPULATORS;

EID: 0005587798     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/IMECE2000-2390     Document Type: Conference Paper

References (8)

1. Anderson, RJ. and Spong, M. W., 1989. "Bilateral Control of Teleoperators with Time Delay." IEEE Transactions on Automatic Control, Vol. 34, No. 5, pp. 494-501.
2. Brooks, T. L., 1990. "Telerobotic Response Requirements." Proceedings of the IEEE Conference on Systems, Man, and Cybernetics, pp. 113-120.
3. Goldfarb, M., 1999. "Similarity and Invariance in Scaled Bilateral Telemanipulation. " ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 121, No. 1, pp. 79-87.
4. Hahstrudi-Zaad, K. and S. E. Salcudean, 1999. "On the Use of Local Force Feedback for Transparent Teleoperation. " Proceedings of the IEEE Conference on Robotics and Automation, pp. 1863-1869.
5. Hannaford, B., 1989. "A Design Framework for Teleoperators with Kinesthetic Feedback." IEEE Transactions on Robotics and Automation, Vol. 5, No. 4, pp. 426-434.
6. Lawrence, D. A., 1993. "Stability and Transparency in Bilateral Telemanipulation. " IEEE Transactions on Robotics and Automation, Vol. 9, No. 5, pp. 624-637.
7. Yokokohji, Y. and Yoshikawa, T., 1992. "Bilateral Control of Master-Slave Manipulators for Ideal Kinesthetic Coupling." Proceedings of the IEEE Conference on Robotics and Automation, pp. 849-858.
8. Yokokohji, Y., Hosotani, N. and Yoshikawa, T., 1994. "Analysis of Maneuverability and Stability of Micro-Teleoperation Systems." Proceedings of the IEEE Conference on Robotics and Automation, pp. 237-242.