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A control structure for bilateral telemanipulation

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Harwin, W. orcid id iconORCID: https://orcid.org/0000-0002-3928-3381 (2016) A control structure for bilateral telemanipulation. In: TAROS 2016, 2016, Sheffield, pp. 139-145. doi: 10.1007/978-3-319-40379-3_14

Abstract/Summary

A framework for considering the stability of bilateral telemanipulator systems is considered. The approach adapts the work of Lawrence [3] to use a state-space formulation thus simplifying the identification of the stability conditions from the eigenvalues of the feedback system. Both numerical and symbolic stability conditions are considered.

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Item Type Conference or Workshop Item (Paper)
URI https://reading-clone.eprints-hosting.org/id/eprint/112641
Identification Number/DOI 10.1007/978-3-319-40379-3_14
Refereed Yes
Divisions Life Sciences > School of Biological Sciences > Department of Bio-Engineering
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