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2013-01-01
Stability of a bilateral teleoperation system may be jeopardized by controller discretization, which has been shown to involve energy leaks. This paper proposes a novel approach to analyzing the absolute stability of sampled-data bilateral teleoperation systems consisting of discrete-time...
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Bilateral Teleoperation System Stability with Non-passive and Strictly-Passive Operator or Environment
Download2015-01-01
A bilateral teleoperation system comprises a human operator, a teleoperator, and an environment. Without exact models for the teleoperator’s terminations (i.e., human operator and the environment), it is typically assumed that they are passive but otherwise arbitrary. Based on this assumption,...