Power and impedance scaling in bilateral manipulation
Power and impedance scaling in bilateral manipulation
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双边操纵中的功率和阻抗缩放
DOI：
10.1109/robot.1991.131973
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发表时间：
1991
期刊：
影响因子：
--
通讯作者：
J. Colgate
中科院分区：
文献类型：
--
作者：
J. Colgate
功率和阻抗缩放双边机械手（例如延长器或宏微双边机械手）可以极大地增强人类操作员的手动能力，但它也会损害操作员的固有稳定性。使用结构化奇异值导出操作员/双边机械手环境系统鲁棒稳定性的条件。通过双通道双边操纵器进行功率和阻抗缩放的几个示例说明了该条件的应用。<<ETX>>
A power and impedance scaling bilateral manipulator (such as an extender or a macro-micro bilateral manipulator) can greatly enhance the manual capabilities of a human operator, but it can also compromise the inherent stability of the operator. A condition for the robust stability of an operator/bilateral manipulator environment system is derived using the structured singular value. The application of this condition is illustrated with several examples of power and impedance scaling via a two-channel bilateral manipulator.<<ETX>>