Abstract
In the present paper, we examine a bilateral control of teleoperation. In teleoperation, human operator works to achieve tasks via the master and the slave system. The slave system contacts the environment and works the tasks. According to past studies, when the dynamics of the environment is treated as uncertainties, the number of unstable poles of the slave system is required to be equivalent to that of the slave system with the dynamics of the environment. Sometimes the number of unstable poles of the slave system with the dynamics of environment is different from that of the slave system. We propose a simple design method of bilateral control systems such that the number of unstable poles of the slave system with the dynamics of environment is different from that of the slave system without the dynamics of the environment.
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