Abstract
Bilateral operation systems have been widely used in daily life and many filed. Generally, both master manipulators and slave manipulators are assumed to be passive devices. However, master manipulators may always bring part active power in the integral network due to the active haptic device. In this paper, we study the bilateral system with part active power, analyze the stability condition is analyzed and a PD bilateral controller is proposed on the basis of four channel two-wave network. Numerical simulations are performed and results prove that the proposed method is better than the conventional method.
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Acknowledgements
This work was supported by the National Natural Science Foundation of China [grant numbers No. 61906086], Natural Science Foundation of Jiangsu Province of China [No. BK20210930].
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Zheng, D., Pu, Y., Bai, J. (2022). Analysis and Control for Bilateral Teleoperation Systems with Part Active Power. In: Yang, S., Lu, H. (eds) Artificial Intelligence and Robotics. ISAIR 2022. Communications in Computer and Information Science, vol 1700. Springer, Singapore. https://doi.org/10.1007/978-981-19-7946-0_7
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DOI: https://doi.org/10.1007/978-981-19-7946-0_7
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