Experimental study of tele-bilateral impedance control using bilinear model

Many researchers have studied bilateral master-slave teleoperator systems, especially since Anderson and Spong (1989) proposed a novel and simple method to overcome the instability due to transmission delays. In this paper we propose a bilateral master-slave manipulator system in which the slave impedance can be adjusted by the operator in a bilateral fashion. The stability of the system for the time delay is also discussed, and the effectiveness of the system is shown by experiments.

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