The translational control law equations are derived, and the servo system design procedures using both frequency and time domain techniques are presented. A two DOF master-slave breadboard was designed, build, and tested. The breadboard verified the control technique to be feasible, and the hardware test results were used to document (1) be lateral operation, (2) coordinate transformations, (3) vari able gain ratios, (4) position indexing, and (5) stability. The coordinate transformations, variable gain ratios, and position indexing operated satisfactorily, and the force reflecting ratio was shown to be truly independent of these features. The master and slave tip to tip tracking properties were excellent, and it was demonstrated how man-in-the-loop serves as an adaptive filter for stabilizing a bilateral system handling a large payload.
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