Passive Feedforward Approach to Bilateral Teleoperated Manipulators

  title={Passive Feedforward Approach to Bilateral Teleoperated Manipulators},
  author={Perry Y. Li and Dongjun Lee},
A control schemefor linear dynamically similar bilateral teleoperatedmanipulatorsystemwhich ensuresthat the closed loop systemis energeticallypassi ve is proposed.Energeticpassivity implies that the teleoperatedmanipulatorsystemis safe to interactwith, and that the couplingbetweenthe systemand any strictly passi ve environmentis stable.Thecontrolobjective is for the two manipulatorsin the systemto behave in unison underthe influenceof both the operatorandthe work environment, while… CONTINUE READING

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