Method for simultaneously increasing transparency and stability robustness in bilateral telemanipulation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2000, Pages 2671-2676

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

^a VANDERBILT UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

BILATERAL TELEMANIPULATION; HUMAN TELEOPERATOR ENVIRONMENT LOOP; TWO CHANNEL POSITION FORCE ARCHITECTURE;

CLOSED LOOP CONTROL SYSTEMS; CONTROL SYSTEM SYNTHESIS; DEGREES OF FREEDOM (MECHANICS); HUMAN COMPUTER INTERACTION; MANIPULATORS; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY; TRANSFER FUNCTIONS;

REMOTE CONTROL;

EID: 0033691981     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. Anderson, R.J. 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. Colgate, J.E., 1993. "Robust Impedance Shaping Telemanipulation. " IEEE Transactions on Robotics andAutomation, Vol. 9, No. 4, pp. 374-384.
4. Hashtrudi-Zaad, K. and S.E. Salcudean, 1999. "On the Use of Local Force Feedback for Transparent Teleoperation." Proceedings of the IEEE Conference on Robotics andAutomation, pp. 1863-1 869.
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. Kaneko, K., Tokashiki, H., Tanie, K.,and Komoriya, K., 1997. "Impedance Shaping Based on Force Feedback Bilateral Control in Macro-Micro Teleoperation System." Proceedings of the IEEE Conference on Robotics and Automation, pp. 7 10-7 17.
7. Lawrence, D.A., 1993. "Stability and Transparency in Bilateral Telemanipulation." IEEE Transaclions on Robotics anddutomation, Vol. 9, No. 5, pp. 624-637.
8. 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.