Septimiu E. Salcudean Ming Zhu Wen-Hong Zhu Keyvan Hashtrudi-Zaad

摘要

A four-channel control architecture has been suggested in the liter- ature to achieve transparency for master-slave teleoperator systems under position control. In this paper, the result is generalized to in- clude teleoperator systems that are under rate control or more gen- eral master-slave kinematic correspondence laws, such as a mixed- position/rate mode. A one-degree-of-freedom example is given to outline the design and analysis of such a system for transparency and stability. The validity of the theory has been verified through simulations and experiments.