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)|
|Number of pages||6|
|Journal||Proceedings - IEEE International Conference on Robotics and Automation|
|State||Published - Jan 1 1991|
ASJC Scopus subject areas
- Control and Systems Engineering