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A control structure for bilateral telemanipulation

Harwin, W. ORCID: (2016) A control structure for bilateral telemanipulation. In: TAROS 2016, 2016, Sheffield, pp. 139-145,

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To link to this item DOI: 10.1007/978-3-319-40379-3_14


A framework for considering the stability of bilateral telemanipulator systems is considered. The approach adapts the work of Lawrence [3] to use a state-space formulation thus simplifying the identification of the stability conditions from the eigenvalues of the feedback system. Both numerical and symbolic stability conditions are considered.

Item Type:Conference or Workshop Item (Paper)
Divisions:Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:112641


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