Abstract
A framework for considering the stability of bilateral telemanipulator systems is considered. The approach adapts the work of Lawrence [3] to use a state-space formulation thus simplifying the identification of the stability conditions from the eigenvalues of the feedback system. Both numerical and symbolic stability conditions are considered.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Bajcsy, R., Kumar, V., Harwin, W., Harker, P.: Rapid design and prototyping of customised rehabilitation aids. Commun. ACM 39(2), 55–61 (1996). Special Section on Computers in Manufacturing
Hannaford, B., Ryu, J.: Time domain passivity control of haptic interfaces. IEEE Trans. Rob. Autom. 18(1), 1–10 (2002)
Lawrence, D.: Stability and transparency in bilateral teleoperation. IEEE Trans. Rob. Autom. 9(5), 624–637 (1993)
Rahman, T., Sample, W., Jayakumar, S., King, M.M., et al.: Passive exoskeletons for assisting limb movement. J. Rehabil. Res. Dev. 43(5), 583 (2006). http://www.rehab.research.va.gov/jour/06/43/5/pdf/Rahman.pdf
Salisbury, K., Conti, F., Barbagli, F.: Haptic rendering: introductory concepts. IEEE Comput. Graph. Appl. 24(2), 24–32 (2004)
Thomas, R., Harwin, W.: Estimation of contact forces in a backdrivable linkage for cognitive robot research. In: Natraj, A., Cameron, S., Melhuish, C., Witkowski, M. (eds.) TAROS 2013. LNCS, vol. 8069, pp. 235–246. Springer, Heidelberg (2014)
Acknowledgements
The authors is pleased to acknowledge the help of Gareth Barnaby and Rory Mangles who helped to highlight the structure of bilateral telemanipulation during their final year project.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Harwin, W. (2016). A Control Structure for Bilateral Telemanipulation. In: Alboul, L., Damian, D., Aitken, J. (eds) Towards Autonomous Robotic Systems. TAROS 2016. Lecture Notes in Computer Science(), vol 9716. Springer, Cham. https://doi.org/10.1007/978-3-319-40379-3_14
Download citation
DOI: https://doi.org/10.1007/978-3-319-40379-3_14
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-40378-6
Online ISBN: 978-3-319-40379-3
eBook Packages: Computer ScienceComputer Science (R0)