A Control Structure for Bilateral Telemanipulation

Conference paper
First Online:
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9716)

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.

Keywords

Bilateral telemanipulator Control Stability 
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Notes

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.

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.School of Systems EngineeringUniversity of ReadingReadingUK

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