Stability of bilateral teleoperators with generalized projection-based force reflection algorithms

A general stability result for bilateral teleoperator systems with projection-based force reflection algorithms from a broad class is presented. It is shown that the overall stability of a teleoperator system can be achieved under mild assumptions on subsystem stability, properties of the communicat...

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Veröffentlicht in:	Automatica (Oxford) 2012-06, Vol.48 (6), p.1005-1016
Hauptverfasser:	Polushin, Ilia G., Liu, Xiaoping P., Lung, Chung-Horng
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Applied sciences Communication networks Computer science control theory systems Computer systems and distributed systems. User interface Control system analysis Control theory. Systems Dynamical systems Dynamics Exact sciences and technology Force reflection Gain Human Nonlinear systems Robotics Software Stability Stability analysis Teleoperation Teleoperators Telerobotics
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