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Volume 19 Issue 12 - Publications Date: 1 December 2000
 
Transparent Bilateral Teleoperation under Position and Rate Control
 
S.E. Salcudean University of British Columbia, M. Zhu, W-H. Zhu and K. Hashtrudi-Zaad
 
A four-channel control architecture has been suggested in the literature to achieve "transparency" for master-slave teleoperator systems under position control. In this article, 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. The validity of the theory has been verified through simulations and experiments.
 
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