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[085] Citation: D.Y. Hwang, B. Hannaford, 'Modeling and Stability analysis of a Scaled Telemanipulation,'
Proceedings RO-MAN 94, Nagoya, July, 1994.
Abstract
When the scaled teleoperation is used, the stability issue becomes
important due to the high gains in position or force scaling. We used
two experimental methods to identify the stable region of position and
force scaling factors of a one-axis system having 4000:1 force scaling
capability. We used a simple classical teleoperation control law. An
indirect closed loop approach with ARX technique was used to model the
non-linear slave system with a flexible printed circuit cable.
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Updated: Tue Aug 19 09:16:07 2008
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