Some remarks on the fragility of transparency and stability in general 4-channel architecture for bilateral teleoperation with delay Conference Paper uri icon

abstract

  • This paper addresses the trade-off between transparency and stability of some specific bilateral teleoperation systems including communication time-delays. Using a geometric approach, we derive a simple method to study the fragility of the proposed controller for a general 4-channel architecture for bilateral teleoperation with time-delays such that the closed-loop stability as well as the transparency are guaranteed for the overall scheme. Illustrative examples complete the presentation. ©ICROS.

publication date

  • 2010-01-01