A constitution method of bilateral teleoperation under time delay based on stability analysis of modal space

@article{Suzuki2010ACM,
  title={A constitution method of bilateral teleoperation under time delay based on stability analysis of modal space},
  author={Atsushi Suzuki and Kouhei Ohnishi},
  journal={2010 IEEE International Symposium on Industrial Electronics},
  year={2010},
  pages={1779-1783}
}
A three-channel bilateral control system which is hybrid of position control and force control in the acceleration dimension based on disturbance observer gets unstable in contact with environments under time delay. In this control system, the sum of master force and slave force is controlled to zero in common modal space to realize the law of action-reaction. This paper proposes a velocity damping method which suppresses the higher frequency vibration than the frequency of human motion. This… CONTINUE READING

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