Force and Position Scaling Limits for Stability in Force Reflecting Teleoperation

  title={Force and Position Scaling Limits for Stability in Force Reflecting Teleoperation},
  author={Stanford Telerobotics}
  • Stanford Telerobotics
Many telerobotic systems require the use of a slave robot with large inertial and frictional properties. Using a force sensor on the end effector can hide the slave’s inertia and friction from the user providing a more accurate sense of the environment, but introduces dangers of system instability. Both the position and force scale directly affect the system loop gain and hence stability. This opens up the possibility of trading off between them based on the environment and task. In this paper… CONTINUE READING


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