Abstract This paper presents a bilateral control method for teleoperation systems where the master and the slave are modeled by different order transfer functions. The proposed methodology represents the teleoperation system on the state space and it is based in the state convergence between the master and the slave. The method allows that the slave follows the master, and it is able to establish the dynamic behavior of the teleoperation system. The first results obtained when the method is being applied to a commercial teleoperation system in which the master and the slave are modeled by different order discrete transfer functions are shown in this paper.


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    Title :

    Bilateral Control of Different Order Teleoperators


    Contributors:


    Publication date :

    2006-01-01


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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