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TECHNICAL PAPERS

Transparency and Stability Robustness in Two-Channel Bilateral Telemanipulation

[+] Author and Article Information
Kevin B. Fite, John E. Speich, Michael Goldfarb

Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235

J. Dyn. Sys., Meas., Control 123(3), 400-407 (Sep 01, 1999) (8 pages) doi:10.1115/1.1387018 History: Received September 01, 1999
Copyright © 2001 by ASME
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References

Figures

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A typical two-channel position-force architecture
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Restructuring of the position-force architecture to enable derivation of the transparency transfer function
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Rearrangement of the position-force architecture into a unity-feedback structure and the introduction of a loop shaping compensator
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Two-channel position-force architecture with local force feedback (at slave) and local motion feedback (at master). Note that a compensator cannot be placed in any path that terminates with a hollow arrowhead.
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Two-channel position-force architecture resulting from compensation of human/master interaction using the approximation to the inverse master admittance.
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The loop transfer function of the two-channel position-force architecture. The system is unstable, with a gain margin of approximately −13.4 dB and a phase margin of approximately −41 deg.
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The transparency transfer function of the two-channel position-force architecture, exhibiting a ±3 dB bandwidth of approximately 4.7 Hz
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Frequency response of the lead-lead-lag compensator
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The loop transfer function of the compensated two-channel position-force architecture, with a stability robustness characterized by a gain margin of approximately 21.4 dB and a phase margin of approximately 28.7 deg
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The transparency transfer function of the compensated two-channel position-force architecture, exhibiting a ±3 dB bandwidth of approximately 160 Hz
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Performance robustness of the two-channel architecture, without local feedback, to changes in the impedance of the environment
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Performance robustness of the two-channel architecture, with local feedback, to changes in the impedance of the environment
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The loop transfer function of the two-channel position-force architecture with a 50-millisecond time delay in each communication channel. The system is unstable, with a gain margin of approximately −22 dB and a phase margin of approximately −190 deg
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The loop transfer function of the compensated two-channel position-force architecture with time delay, with a stability robustness characterized by a gain margin of 8 dB and a phase margin of 46.1 deg
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(TOP ) The transparency transfer function of the two-channel position-force architecture with time delay, exhibiting a ±3 db bandwidth of approximately 4.0 Hz and (BOTTOM ) the transparency transfer function of the compensated two-channel position-force architecture, exhibiting a ±3 dB bandwidth of approximately 150 Hz

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