Achievable dynamic performance in telerobotic systems

Abstract

A control algorithm is defined for a telerobotic system in which the dynamic behaviors of the slave robot and the master robot are functions of each other. These functions, which are the designer's choice and depend on the application, are described. A control architecture that guarantees that the specified functions govern the dynamic behavior of the telerobotic system is presented. The stability of the closed-loop system (i.e., master robot, slave robot, human, and the load being manipulated) is analyzed, and sufficient conditions for stability are derived. Experimental results that verify the theoretical predictions are given.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>