In this paper the stability of a control scheme for bilateral master-slave teleoperation is investigated. Given the nominal models of the master and slave dynamics, and using an approximate feedback linearization control, based on the earlier work of Spong and Vidyasagar, 1987, a robust closed-loop system (position and force) can be obtained with a multiloop version of the small gain theorem. It is shown that stable bilateral teleoperating systems can be achieved under the assumption that the deviation of the models from the actual systems satisfies certain norm inequalities. We also show that, using the proposed scheme, the tracking error (position/velocity and force/torque) is bounded and it can be made arbitrarily small. The control scheme is illustrated using the simulation of a three-degree-of-freedom master-slave teleoperator (three-degree-of-freedom master and three-degree-of-freedom slave).
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September 1993
Research Papers
Stability Analysis of a Bilateral Teleoperating System
Y. Strassberg,
Y. Strassberg
Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Ontario, Canada
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A. A. Goldenberg,
A. A. Goldenberg
Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Ontario, Canada
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J. K. Mills
J. K. Mills
Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Ontario, Canada
Search for other works by this author on:
Y. Strassberg
Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Ontario, Canada
A. A. Goldenberg
Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Ontario, Canada
J. K. Mills
Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Ontario, Canada
J. Dyn. Sys., Meas., Control. Sep 1993, 115(3): 419-426 (8 pages)
Published Online: September 1, 1993
Article history
Received:
June 1, 1991
Revised:
September 1, 1992
Online:
March 17, 2008
Citation
Strassberg, Y., Goldenberg, A. A., and Mills, J. K. (September 1, 1993). "Stability Analysis of a Bilateral Teleoperating System." ASME. J. Dyn. Sys., Meas., Control. September 1993; 115(3): 419–426. https://doi.org/10.1115/1.2899118
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