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Bilateral parallel force/position teleoperation control

✍ Scribed by Hashtrudi-Zaad, Keyvan ;Salcudean, Septimiu E.

Book ID
112186422
Publisher
John Wiley and Sons
Year
2002
Tongue
English
Weight
273 KB
Volume
19
Category
Article
ISSN
0741-2223

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In this work we propose a control architecture that leads to an intrinsically stable bilateral teleoperation system, where the telepresence of the user is improved in terms of remote force discrimination. We identify, through a set of psychophysical experiments, a variable force scaling matrix that