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IROS
2007
IEEE

Stability of discrete-time bilateral teleoperation control

10 years 3 months ago
Stability of discrete-time bilateral teleoperation control
— Discretization of a stabilizing continuous-time bilateral teleoperation controller for digital implementation may not necessarily lead to stable teleoperation. This paper addresses the stability of master-slave teleoperation under discrete-time bilateral control. Stability regions are determined in the form of conditions involving the sampling period, control gains including the damping introduced by the controller, and environment stiffness. Due to the tradeoff between stability and transparency in bilateral teleoperation, such stability boundaries are of particular importance when the teleoperation system has good transparency.
Mahdi Tavakoli, Arash Aziminejad, Rajni V. Patel,
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Mahdi Tavakoli, Arash Aziminejad, Rajni V. Patel, Mehrdad Moallem
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