A study on the stability of bilaterally controlled tele-manipulator

힘반영 원격조작 매니퓰레이터의 안정성에 대한 연구

In this paper, the stability analysis for the bilateral control of tele-manipulator is considered. Two-port network model is used to describe the tele-manipulator system. The stable conditions are derived using impedance matrix and passive network theory for two different types of bilateral control scheme. It is also shown that such conditions can be succefully applied to the n-d.o.f tele-manipulator system in which the kinematics and dynamics of master and slave manipulators are different.