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Loop shaping for transparency and stability robustness in bilateral telemanipulation

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3 Author(s)
Fite, K.B. ; Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA ; Liang Shao ; Goldfarb, M.

This paper presents and experimentally demonstrates a control methodology that provides transparency and stability robustness in bilateral telemanipulator systems. The approach is based upon a previously published method that structures the human-manipulators-environment system in a manner that enables the application of frequency-domain loop-shaping methods. This paper reformulates the human-manipulator interaction described in the previously published work, and experimentally demonstrates the approach on a single degree-of-freedom telemanipulation system. Experimental measurements indicate significant improvements offered by the method in both the stability robustness and transparency of the human-manipulators-environment system. Finally, experimental results are presented that demonstrate the robustness in the transparency to significant changes in the environment dynamics.

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Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 3 )