Abstract
This paper shows a new methodology for bilateral controller design based on transparency using a modified state convergence control scheme. This methodology offers some advantages upon designing bilateral systems. The design is based on modelling the behaviour of the master and the slave by applying state space equations, and considering perfect transparency cannot be reached. Therefore, the objective of the controllers is to guarantee the convergence of the master and slave status. This paper describes the criteria to achieve transparency on steady state.
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Bogado, J.M., Ferre, M., Aracil, R., Azorin, J.M., Fernández, E.M., Baca, J. (2008). Transparency Analysis of Bilateral Controllers Based on the Methodology of State Convergence. In: Ferre, M. (eds) Haptics: Perception, Devices and Scenarios. EuroHaptics 2008. Lecture Notes in Computer Science, vol 5024. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-69057-3_13
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DOI: https://doi.org/10.1007/978-3-540-69057-3_13
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-69056-6
Online ISBN: 978-3-540-69057-3
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