Stability and Performance Analysis of Wave Variable based Teleoperation System

웨이브 변수 기반 원격조작시스템의 안정성 및 성능 해석

In this paper. the stability and performance analysis of wave-based teleoperation system is presented. For stability and performance analysis with respect to the variation of characteristic impedance b, loop gains of communication channel and minimum value of trasmitted impedance from slave side to the master side are considered. The stability of slave side may be enhanced by increasing characteristic impedance b, whereas exssively high value of b may degrade the performance, which imply a tradeoff between stability and performance.