Stability of bilateral teleoperators with projection-based force reflection algorithms
A general stability result for force-reflecting teleoperator systems with projection-based force reflection algorithms is established. It is shown that the closed-loop system's gain can be assigned arbitrarily by an appropriate choice of certain weighting function of the projection-based force reflection algorithm. In particular, this allows to achieve stability of the force-reflecting teleoperator system in presence of time-varying irregular delays for arbitrarily large force-reflecting gain and arbitrarily low damping and stiffness of the master. The proposed approach solves, to some extent, the trade-off between stability, manoeuvrability, and high force reflection gain in force-reflecting teleoperator system with network-induced communication constraints.
|Conference||2008 IEEE International Conference on Robotics and Automation, ICRA 2008|
Polushin, I.G. (Ilia G.), Liu, P, & Lung, C.H. (2008). Stability of bilateral teleoperators with projection-based force reflection algorithms. Presented at the 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. doi:10.1109/ROBOT.2008.4543283