Stability and performance tradeoffs in bi-lateral telemanipulationKinesthetic 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. Here, a simplified linear analysis of this stability problem is presented for the forward-flow generalized architecture, applying 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.
Document ID
19890066094
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hannaford, Blake (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Man/System Technology And Life Support
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation