Enhancement of Stability and Transparency in Teleoperated Robots Through Isotropy-Based Design
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"Enhancement of Stability and Transp..." refers background in this paper
...It is claimed almost 3 decades ago in [20] that a 4-channel architecture is mandatory for simultaneous achievement of both stability and transparency of the teleoperation system....
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...In fact, this is the prime reason for incorporating the traditional 4-channel architecture [20]....
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...As mentioned in [20], transparency requires accurate force tracking along with position tracking....
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...Further, the force tracking error also converging to zero (with a negligible error in the order of 1mN-m), along with accurate position tracking, demonstrates the transparency of the system [20]....
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...This is true even in the case of one of the first and break through four-channel architectures mentioned in [20]....
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"Enhancement of Stability and Transp..." refers background in this paper
...Consequently, implementation of even well acceptable controllers still leaves the system with unwanted oscillations and inaccurate force feedback [16]....
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...It is already shown in sections IA and IB how state-of-the-art techniques [7]–[16] achieve proper signal transmission at stage 2....
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...An exhaustive list of all such control techniques is presented in [16]....
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