A novel general bilateral teleoperator architecture and stability analysis

摘要

One of the main issues in teleoperator is control of master-slave teleoperator. A number of control methodologies have been proposed in teleoperator literature. Recently, literature has focussed on general teleoperator architectures analysis of stability, and several general teleoperator architectures have been proposed. In this note, we propose a novel general teleoperator architecture, which includes all of the proposed architectures appearing in previous literature. Based on the operator passivitytheory, the stability of the proposed general architecture has been proved briefly. It is more general than the previous architectures, and the stability analysis method can be extended to multi-DOF, nonlinear, time-variant, and time-delayed teleoperator architectures.