Bilateral control of teleoperators with time delayThe authors present a novel control law for teleoperators which overcomes the instability caused by time delay. By using passivity and scattering theory, a criterion is developed which shows why existing bilateral control systems are unstable for certain environments, and why the proposed bilateral control law is stable for any environment and any time delay. The control law was implemented on a single-axis force-reflecting hand controller, and preliminary results are shown.
Document ID
19890041138
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Anderson, Robert J. (Illinois Univ. Urbana, IL, United States)
Spong, Mark W. (Illinois, University Urbana, United States)