TY - GEN
T1 - Passive control of bilateral teleoperated manipulators
AU - Li, Perry Y.
PY - 1998
Y1 - 1998
N2 - The control of a bilateral teleoperated manipulator system is considered. The goal of the control are to i) coordinate the motions of the two manipulators according to a predefined kinematic scaling, ii) render the dynamics of a locked system, and its response to forces from the human operator and environment to approximate that of predefined natural dynamics, iii) to provide for possible scaling of power. In addition, for safety reasons, the closed loop system need to remain passive. For linear dynamically similar systems, dynamics of the system can be block diagonalized into two decoupled mechanical systems: the shape system that deals with the coordination error, and the locked system that describe the average motion of the two manipulators. The passive velocity field control methodology is then applied to the shape system to regulate the coordination error at 0 and at the same time preserves the passivity of the overall system.
AB - The control of a bilateral teleoperated manipulator system is considered. The goal of the control are to i) coordinate the motions of the two manipulators according to a predefined kinematic scaling, ii) render the dynamics of a locked system, and its response to forces from the human operator and environment to approximate that of predefined natural dynamics, iii) to provide for possible scaling of power. In addition, for safety reasons, the closed loop system need to remain passive. For linear dynamically similar systems, dynamics of the system can be block diagonalized into two decoupled mechanical systems: the shape system that deals with the coordination error, and the locked system that describe the average motion of the two manipulators. The passive velocity field control methodology is then applied to the shape system to regulate the coordination error at 0 and at the same time preserves the passivity of the overall system.
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U2 - 10.1109/ACC.1998.703365
DO - 10.1109/ACC.1998.703365
M3 - Conference contribution
AN - SCOPUS:84881353901
SN - 0780345304
SN - 9780780345300
T3 - Proceedings of the American Control Conference
SP - 3838
EP - 3842
BT - Proceedings of the 1998 American Control Conference, ACC 1998
T2 - 1998 American Control Conference, ACC 1998
Y2 - 24 June 1998 through 26 June 1998
ER -