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Sensory Feedback for High Dissymmetric Master-Slave Dexterity

Michel Cotsaftis / Erno Keskinen
Transaction on Control Automation, and Systems Engineering, vol. 4, no. 1, pp.38-42, 2002

Abstract : Conditions are discussed for operating a dissymmetric human master-small (or micro) slave system in best (large position gain-small velocity gain) conditions allowing higher operator dexterity when real effects (joint compliance, link flexion, delay and transmission distortion) are taken into account. It is shown that position PD feedback law advantage for ideal case no longer holds, and that more complicated feedback law depending on real effects has to be implemented with adapted transmission line . Drawback is slowdown of master slave interaction, suggesting to use more advanced predictive methods for the master and more intelligent control law for the slave.

Keyword : dexterous dissymmetric telerobotic system, transparency, passivity, s ignal distortion

 
 
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