Transparency and stability robustness in two-channel bilateral telemanipulation

This paper presents a two-channel architecture and design approach that ena bles a simultaneous increase in the transparency, and stability robustness of a bilateral teleoperation system, and additionally provides a high degre e of transparency robustness to uncertainty in the operator and environment dynamics. The former is provided by the use of a loop-shaping filter incor porated on the master-to-slave motion command, and the latter by local feed back loops around both the master and slave manipulators. The proposed arch itecture and design approach are illustrated on a single-degree-of-freedom example with and without a communication channel time delay. Finally, the i mplications of scaling on the stability of the teleoperator loop are discus sed.