A method for simultaneously increasing transparency and stability robustness in bilateral telemanipulation

• DOI: 10.1109/robot.2000.846431
• Publication Date: 2002-11-07T16:07:59Z
• Authors: J.E. Speich; K. Fite; M. Goldfarb
• Keywords: Teleoperation; Robustness; Telerobotics

Describes a design technique for simultaneously increasing the transparency bandwidth and stability robustness of two-channel position-force bilateral teleoperation architecture. Specifically, performance enhancements are obtained by introducing dynamic compensator into system to shape frequency-domain properties human-teleoperator-environment loop. This is demonstrated in single degree-of-freedom numerical example.