Abstract
A power and impedance scaling bilateral manipulator (such as an extender or a macro-micro bilateral manipulator) can greatly enhance the manual capabilities of a human operator, but it can also compromise the inherent stability of the operator. A condition for the robust stability of an operator/bilateral manipulator environment system is derived using the structured singular value. The application of this condition is illustrated with several examples of power and impedance scaling via a two-channel bilateral manipulator.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2292-2297 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| State | Published - 1991 |
| Externally published | Yes |
| Event | Proceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA Duration: Apr 9 1991 → Apr 11 1991 |
ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Electrical and Electronic Engineering
- Control and Systems Engineering