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This paper presents an augmented 4 channel architecture for stable teleoperation under time delay by using damping injection on each robot. The 4 channel architecture is optimized for good performance, but can easily become unstable under delay. By introducing local damping to the robots, we can obtain a 4 channel teleoperation architecture which is more robust against time delays. By using the hybrid...
In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable" Approach, the "Passivity" approach and the "Variable-Structure" approach. The survey is limited to rigid robots and nonadaptive controllers.
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