Human dynamics and stability of teleoperator systems with generalized projection-based force reection algorithms
A new general stability result for networked bilateral teleoperator systems with projection-based force reection is presented. Contrary to the previous results, the human operator dynamics are taken into account in the stability analysis. The human dynamics are assumed to satisfy a general condition formulated in terms of finite distance between output of the human dynamics and a certain "passivity-based" stabilizing set. In particular, this assumption allows for both passive and non-passive behaviour of the human operator. The overall stability of the bilateral teleoperator system is proven in the presence of network-induced communication constraints for an arbitrary projection-based force reection algorithm from a broad class.
|Conference||18th IFAC World Congress|
Polushin, I.G. (Ilia G.), Liu, P, & Lung, C.H. (2011). Human dynamics and stability of teleoperator systems with generalized projection-based force reection algorithms. Presented at the 18th IFAC World Congress. doi:10.3182/20110828-6-IT-1002.03346