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An implementation of loop-shaping compensation for multidegree-of-freedom macro-microscaled telemanipulation

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2 Author(s)
Speich, J.E. ; Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA ; Goldfarb, M.

This brief describes the implementation of a telemanipulation control architecture on a three degree-of-freedom (3-DOF) scaled master-slave telemanipulation system. Specifically, feedback linearization enables the use of loop-shaping compensators to increase the transparency bandwidth of a 3-DOF macro-micro telemanipulator pair, while the stability robustness of the system is maintained. Experimental results contrast the transparency and stability robustness of the compensated with the uncompensated system. The enhanced performance of the former demonstrates the utility of the approach.

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Control Systems Technology, IEEE Transactions on  (Volume:13 ,  Issue: 3 )