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Stability and performance tradeoffs in bi-lateral telemanipulation
Abstract
Kinesthetic force feedback provides measurable increase in remote manipulation system performance. Intensive computation time requirements or operation under conditions of time delay can cause serious stability problems in control-system design. The author presents a simplified linear analysis of this stability problem for the forward-flow generalized architecture and uses the hybrid two-port representation to express the loop gain of the traditional master-slave architecture, which can be subjected to similar analysis. The hybrid two-port representation is also used to express the effects on the fidelity of manipulation or feel of one design approach used to stabilize the forward-flow architecture. The results suggest that, when local force feedback at the slave side is used to reduce manipulator stability problems, a price is paid in terms of telemanipulation fidelity.>
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Cited by
Yokokohji, Y., & Yoshikawa, T. (1994) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.326566 · Cited by 939
Steinbach, E., Hirche, S., Ernst, M., Brandi, F., Chaudhari, R., Kammerl, J., & Vittorias, I. (2012) · Proceedings of the IEEE · doi:10.1109/jproc.2011.2182100 · Cited by 198
Metadata
- Authors
- Hannaford, B.
- Venue
- Proceedings, 1989 International Conference on Robotics and Automation
- Publisher
- IEEE Comput. Soc. Press
- Published
- 2003-01-07
- Pages
- 1764-1767
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2118848280
- Cited by
- 180
- References
- 0
- FWCI
- 38.67
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Hannaford, B. (2003). Stability and performance tradeoffs in bi-lateral telemanipulation. Proceedings, 1989 International Conference on Robotics and Automation. https://doi.org/10.1109/robot.1989.100230
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