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[031] Citation: B. Hannaford, 'A Design Framework for Teleoperators with Kinesthetic Feedback,'
IEEE Transactions on Robotics and Automation, vol. 5, pp. 426-434, 1989.
Abstract
A teleoperator is a pair of robot manipulators connected in such a way as to
allow an operator handling one manipulator (the master) to operate on a remote
environment (via the slave). Feedback from slave to master increases the
realism with which the operator interacts with the environment. Two-port
models have been extensively used for the analysis of circuits in which
bidirectional energy flows are present at two distinct pairs of terminals.
This paper applies the hybrid two-port model to teleoperators with force and
velocity sensing at the master and slave. The interfaces between human
operator and master, and between environment and slave, are ports through which
the teleoperator is designed to exchange energy between the operator and
environment. By computing or measuring input-output properties of this two-port
network, the hybrid two-port model of an actual or simulated teleoperator
system can be obtained. It is shown that the hybrid model (as opposed to other
two-port forms) leads to an intuitive representation of ideal teleoperator
performance and applies to several teleoperator architectures. Thus measured
values of the "h" matrix or values computed from simulation can be used to
compare performance with the ideal. The frequency-dependent "h" matrix is
computed from a detailed SPICE model of an actual system, and the method is
applied to a proposed new architecture.
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Updated: Tue Aug 19 09:16:07 2008
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